CRAC Team / Pixy2-HA

pixy2 smart camera library www.pixycam.com

Pixy2 Library project (using UART interface)

pixy2.h@9:764075b514bf, 2019-03-12 (annotated)

Committer:
haarkon
Date:
Tue Mar 12 10:49:53 2019 +0000
Revision:
9:764075b514bf
Parent:
8:c93e1d706c0e
Child:
10:ea759846c2d5
documentation udate

Who changed what in which revision?

UserRevisionLine numberNew 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 6:e9e3aa6f1a55 69 /**************** ERRORS ****************/
haarkon 5:28e47187bb5c 70
haarkon 5:28e47187bb5c 71 /**
haarkon 6:e9e3aa6f1a55 72 * \struct Pixy2ErrorCode
haarkon 6:e9e3aa6f1a55 73 * \brief Explicit error code list :
haarkon 5:28e47187bb5c 74 * \param PIXY2_OK : No error
haarkon 5:28e47187bb5c 75 * \param PIXY2_MISC_ERROR : Unknown error
haarkon 5:28e47187bb5c 76 * \param PIXY2_BUSY : Pixy hasn't finish yet
haarkon 5:28e47187bb5c 77 * \param PIXY2_BAD_CHECKSUM : Checksum is wrong
haarkon 8:c93e1d706c0e 78 * \param PIXY2_TYPE_ERROR : Unexpected message type
haarkon 7:1163b9c3274b 79 * @note More documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api#error-codes
haarkon 5:28e47187bb5c 80 */
haarkon 6:e9e3aa6f1a55 81 typedef int Pixy2ErrorCode;
haarkon 5:28e47187bb5c 82
haarkon 8:c93e1d706c0e 83 #define PIXY2_OK 0
haarkon 5:28e47187bb5c 84 #define PIXY2_MISC_ERROR -1
haarkon 5:28e47187bb5c 85 #define PIXY2_BUSY -2
haarkon 5:28e47187bb5c 86 #define PIXY2_BAD_CHECKSUM -3
haarkon 5:28e47187bb5c 87 #define PIXY2_TYPE_ERROR -7
haarkon 1:dd81f4065b6b 88
haarkon 1:dd81f4065b6b 89 /**************** STATE MACHINE ****************/
haarkon 1:dd81f4065b6b 90
haarkon 1:dd81f4065b6b 91 typedef enum {idle, messageSent, receivingHeader, headerReceived, receivingData, dataReceived} T_Pixy2State;
haarkon 1:dd81f4065b6b 92
haarkon 1:dd81f4065b6b 93 /**************** UTILS ****************/
haarkon 1:dd81f4065b6b 94
haarkon 6:e9e3aa6f1a55 95
haarkon 0:dde1b9d6c9d6 96 /**
haarkon 0:dde1b9d6c9d6 97 * \struct Byte -> Short hand for unsigned char
haarkon 2:5281a6289e8b 98 * \struct sByte -> Short hand for char
haarkon 0:dde1b9d6c9d6 99 * \struct Word -> Short hand for unsigned short
haarkon 2:5281a6289e8b 100 * \struct sWord -> Short hand for short
haarkon 0:dde1b9d6c9d6 101 * \struct lWord -> Short hand for unsigned long
haarkon 2:5281a6289e8b 102 * \struct slWord -> Short hand for long
haarkon 0:dde1b9d6c9d6 103 */
haarkon 0:dde1b9d6c9d6 104 typedef unsigned char Byte;
haarkon 2:5281a6289e8b 105 typedef char sByte;
haarkon 0:dde1b9d6c9d6 106 typedef unsigned short Word;
haarkon 2:5281a6289e8b 107 typedef short sWord;
haarkon 0:dde1b9d6c9d6 108 typedef unsigned long lWord;
haarkon 2:5281a6289e8b 109 typedef long slWord;
haarkon 0:dde1b9d6c9d6 110
haarkon 1:dd81f4065b6b 111 /**
haarkon 1:dd81f4065b6b 112 * \union T_Word
haarkon 1:dd81f4065b6b 113 * \brief Structured type to switch from word to bytes
haarkon 1:dd81f4065b6b 114 * \param mot (Word) : 16 bits word
haarkon 1:dd81f4065b6b 115 * \param octet (Byte) : 2 bytes that overlap mot (byte access)
haarkon 1:dd81f4065b6b 116 */
haarkon 0:dde1b9d6c9d6 117 typedef union {
haarkon 0:dde1b9d6c9d6 118 Word mot;
haarkon 0:dde1b9d6c9d6 119 Byte octet[2];
haarkon 0:dde1b9d6c9d6 120 }T_Word;
haarkon 0:dde1b9d6c9d6 121
haarkon 1:dd81f4065b6b 122 /**
haarkon 1:dd81f4065b6b 123 * \union T_lWord
haarkon 1:dd81f4065b6b 124 * \brief Structured type to switch from lword to word or bytes
haarkon 1:dd81f4065b6b 125 * \param motLong (lWord) : 32 bits word
haarkon 1:dd81f4065b6b 126 * \param mot (Word) : 2 x 16 bits words that overlap motLong (word access)
haarkon 1:dd81f4065b6b 127 * \param octet (Byte) : 4 bytes that overlap motLong (byte access)
haarkon 1:dd81f4065b6b 128 */
haarkon 0:dde1b9d6c9d6 129 typedef union {
haarkon 0:dde1b9d6c9d6 130 lWord motLong;
haarkon 0:dde1b9d6c9d6 131 Word mot[2];
haarkon 0:dde1b9d6c9d6 132 Byte octet[4];
haarkon 0:dde1b9d6c9d6 133 }T_lWord;
haarkon 0:dde1b9d6c9d6 134
haarkon 1:dd81f4065b6b 135
haarkon 1:dd81f4065b6b 136 /**************** HEADERS ****************/
haarkon 1:dd81f4065b6b 137
haarkon 1:dd81f4065b6b 138 /**
haarkon 1:dd81f4065b6b 139 * \struct T_pixy2Header
haarkon 1:dd81f4065b6b 140 * \brief Structured type that match pixy2 header without checksum (send message)
haarkon 1:dd81f4065b6b 141 * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC)
haarkon 1:dd81f4065b6b 142 * \param pixType (Byte) : 8 bits message type identifier
haarkon 1:dd81f4065b6b 143 * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum)
haarkon 1:dd81f4065b6b 144 */
haarkon 0:dde1b9d6c9d6 145 typedef struct {
haarkon 0:dde1b9d6c9d6 146 Word pixSync;
haarkon 0:dde1b9d6c9d6 147 Byte pixType;
haarkon 0:dde1b9d6c9d6 148 Byte pixLength;
haarkon 0:dde1b9d6c9d6 149 }T_pixy2Header;
haarkon 0:dde1b9d6c9d6 150
haarkon 1:dd81f4065b6b 151 /**
haarkon 1:dd81f4065b6b 152 * \struct T_pixy2sendFrame
haarkon 1:dd81f4065b6b 153 * \brief Structured type that match frame definition for all kind of message to send to a pixy2
haarkon 1:dd81f4065b6b 154 * \param header (T_pixy2Header) : 4 bytes classical header starting with PIXY2_SYNC
haarkon 1:dd81f4065b6b 155 * \param data (Byte) : 5 bytes payload (to match all usage, not all byte must be used)
haarkon 1:dd81f4065b6b 156 */
haarkon 0:dde1b9d6c9d6 157 typedef struct {
haarkon 0:dde1b9d6c9d6 158 T_pixy2Header header;
haarkon 0:dde1b9d6c9d6 159 Byte data[5];
haarkon 0:dde1b9d6c9d6 160 }T_pixy2sendFrame;
haarkon 0:dde1b9d6c9d6 161
haarkon 1:dd81f4065b6b 162 /**
haarkon 1:dd81f4065b6b 163 * \union T_pixy2sendBuffer
haarkon 1:dd81f4065b6b 164 * \brief Structured type to switch between structured type T_pixy2sendFrame and bytes
haarkon 1:dd81f4065b6b 165 * \param frame (T_pixy2sendFrame) : classical frame (header + payload) starting with PIXY2_SYNC
haarkon 1:dd81f4065b6b 166 * \param data (Byte) : 9 bytes that overlap frame (byte access)
haarkon 1:dd81f4065b6b 167 */
haarkon 0:dde1b9d6c9d6 168 typedef union {
haarkon 0:dde1b9d6c9d6 169 T_pixy2sendFrame frame;
haarkon 0:dde1b9d6c9d6 170 Byte data[9];
haarkon 0:dde1b9d6c9d6 171 }T_pixy2sendBuffer;
haarkon 0:dde1b9d6c9d6 172
haarkon 1:dd81f4065b6b 173 /**
haarkon 1:dd81f4065b6b 174 * \struct T_pixy2RcvHeader
haarkon 1:dd81f4065b6b 175 * \brief Structured type that match pixy2 header with checksum (received message)
haarkon 1:dd81f4065b6b 176 * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC)
haarkon 1:dd81f4065b6b 177 * \param pixType (Byte) : 8 bits message type identifier
haarkon 1:dd81f4065b6b 178 * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum)
haarkon 1:dd81f4065b6b 179 * \param pixSync (Word) : 16 bits checksum (sum of all bytes of the payload)
haarkon 1:dd81f4065b6b 180 */
haarkon 0:dde1b9d6c9d6 181 typedef struct {
haarkon 0:dde1b9d6c9d6 182 Word pixSync;
haarkon 0:dde1b9d6c9d6 183 Byte pixType;
haarkon 0:dde1b9d6c9d6 184 Byte pixLength;
haarkon 0:dde1b9d6c9d6 185 Word pixChecksum;
haarkon 0:dde1b9d6c9d6 186 }T_pixy2RcvHeader;
haarkon 0:dde1b9d6c9d6 187
haarkon 1:dd81f4065b6b 188
haarkon 1:dd81f4065b6b 189 /**************** PAYLOADS ****************/
haarkon 1:dd81f4065b6b 190
haarkon 1:dd81f4065b6b 191 /**
haarkon 1:dd81f4065b6b 192 * \struct T_pixy2returnCode
haarkon 1:dd81f4065b6b 193 * \brief Structured type that match pixy2 error/acknowledge/reply frame (type = 1 or 3) message payload
haarkon 1:dd81f4065b6b 194 * \param pixReturn (lWord) : 32 bits returned value
haarkon 1:dd81f4065b6b 195 */
haarkon 0:dde1b9d6c9d6 196 typedef struct {
haarkon 1:dd81f4065b6b 197 lWord pixReturn;
haarkon 1:dd81f4065b6b 198 }T_pixy2returnCode;
haarkon 0:dde1b9d6c9d6 199
haarkon 1:dd81f4065b6b 200 /**
haarkon 1:dd81f4065b6b 201 * \struct T_Pixy2Version
haarkon 1:dd81f4065b6b 202 * \brief Structured type that match pixy2 version frame (type = 14/15) message payload
haarkon 1:dd81f4065b6b 203 * \param pixHWVersion (Word) : 16 bits hardWare Version of pixy2
haarkon 1:dd81f4065b6b 204 * \param pixFWVersionMaj (Byte) : 8 bits upper part of firmware (before the dot)
haarkon 1:dd81f4065b6b 205 * \param pixFWVersionMin (Byte) : 8 bits lower part of firmware (after the dot)
haarkon 1:dd81f4065b6b 206 * \param pixFWBuild (Word) : 16 bits firmware build information
haarkon 1:dd81f4065b6b 207 * \param pixHFString (String) : 10 bytes user friendly pixy2 firmware type
haarkon 1:dd81f4065b6b 208 */
haarkon 0:dde1b9d6c9d6 209 typedef struct {
haarkon 0:dde1b9d6c9d6 210 Word pixHWVersion;
haarkon 0:dde1b9d6c9d6 211 Byte pixFWVersionMaj;
haarkon 0:dde1b9d6c9d6 212 Byte pixFWVersionMin;
haarkon 0:dde1b9d6c9d6 213 Word pixFWBuild;
haarkon 0:dde1b9d6c9d6 214 char pixHFString[10];
haarkon 0:dde1b9d6c9d6 215 }T_Pixy2Version;
haarkon 0:dde1b9d6c9d6 216
haarkon 1:dd81f4065b6b 217 /**
haarkon 1:dd81f4065b6b 218 * \struct T_Pixy2Resolution
haarkon 1:dd81f4065b6b 219 * \brief Structured type that match pixy2 resolution frame (type = 12/13) message payload
haarkon 1:dd81f4065b6b 220 * \param pixFrameWidth (Word) : 16 bits width (in pixel) of an image
haarkon 5:28e47187bb5c 221 * \param pixFrameHeight (Word) : 16 bits height (in pixel) of an image
haarkon 1:dd81f4065b6b 222 */
haarkon 0:dde1b9d6c9d6 223 typedef struct {
haarkon 0:dde1b9d6c9d6 224 Word pixFrameWidth;
haarkon 5:28e47187bb5c 225 Word pixFrameHeight;
haarkon 0:dde1b9d6c9d6 226 }T_Pixy2Resolution;
haarkon 0:dde1b9d6c9d6 227
haarkon 1:dd81f4065b6b 228 /**
haarkon 1:dd81f4065b6b 229 * \struct T_pixy2Bloc
haarkon 1:dd81f4065b6b 230 * \brief Structured type that match pixy2 blocks frame (type = 32/33) message payload
haarkon 1:dd81f4065b6b 231 * \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 232 * \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 233 * \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 234 * \param pixWidth (Word) : 16 bits width (in pixels, between 0 and 316) of color bloc
haarkon 1:dd81f4065b6b 235 * \param pixHeight (Word) : 16 bits height (in pixels, between 0 and 208) of color bloc
haarkon 2:5281a6289e8b 236 * \param pixAngle (sWord) : 16 bits angle (in degree, between -180.0 and +180.0) of a color code bloc
haarkon 1:dd81f4065b6b 237 * \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 238 * \param pixAge (Byte) : 8 bits age (in number of frame) of a bloc (doesn't wrap around).
haarkon 1:dd81f4065b6b 239 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:ccc_api
haarkon 1:dd81f4065b6b 240 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components
haarkon 1:dd81f4065b6b 241 */
haarkon 0:dde1b9d6c9d6 242 typedef struct {
haarkon 0:dde1b9d6c9d6 243 Word pixSignature;
haarkon 0:dde1b9d6c9d6 244 Word pixX;
haarkon 0:dde1b9d6c9d6 245 Word pixY;
haarkon 0:dde1b9d6c9d6 246 Word pixWidth;
haarkon 0:dde1b9d6c9d6 247 Word pixHeight;
haarkon 2:5281a6289e8b 248 sWord pixAngle;
haarkon 0:dde1b9d6c9d6 249 Byte pixIndex;
haarkon 0:dde1b9d6c9d6 250 Byte pixAge;
haarkon 0:dde1b9d6c9d6 251 }T_pixy2Bloc;
haarkon 0:dde1b9d6c9d6 252
haarkon 1:dd81f4065b6b 253 /**
haarkon 1:dd81f4065b6b 254 * \struct T_Pixy2Vector
haarkon 1:dd81f4065b6b 255 * \brief Structured type that match pixy2 vector definition - used in Line frame (type 48/49) - message payload
haarkon 2:5281a6289e8b 256 * \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 257 * \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 258 * \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 259 * \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 260 * \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 261 * \param pixFlags (Byte) : 8 bits flag containing possible usefull informations (see notes)
haarkon 4:eed638064b42 262 * @note This structure is a feature of Line API, packed as a feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference
haarkon 2:5281a6289e8b 263 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
haarkon 2:5281a6289e8b 264 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
haarkon 1:dd81f4065b6b 265 */
haarkon 0:dde1b9d6c9d6 266 typedef struct {
haarkon 0:dde1b9d6c9d6 267 Byte pixX0;
haarkon 0:dde1b9d6c9d6 268 Byte pixY0;
haarkon 0:dde1b9d6c9d6 269 Byte pixX1;
haarkon 0:dde1b9d6c9d6 270 Byte pixY1;
haarkon 0:dde1b9d6c9d6 271 Byte pixIndex;
haarkon 0:dde1b9d6c9d6 272 Byte pixFlags;
haarkon 0:dde1b9d6c9d6 273 }T_Pixy2Vector;
haarkon 0:dde1b9d6c9d6 274
haarkon 2:5281a6289e8b 275 /**
haarkon 2:5281a6289e8b 276 * \struct T_Pixy2InterLine
haarkon 2:5281a6289e8b 277 * \brief Structured type that match pixy2 intersection line definition - used in Line frame (type 48/49) - message payload
haarkon 2:5281a6289e8b 278 * \param pixIndex (Byte) : 8 bits tracking identification of the intersection line (set by pixy2 to ease a line following program)
haarkon 2:5281a6289e8b 279 * \param pixReserved (Byte) : Not documented by manufacturer
haarkon 2:5281a6289e8b 280 * \param pixAngle (sWord) : 16 bits angle (in degree, between -180.0 and +180.0) of the intersection line
haarkon 4:eed638064b42 281 * @note This structure is a sub feature of Line API, packed as a sub feature of intersection feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference
haarkon 2:5281a6289e8b 282 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
haarkon 2:5281a6289e8b 283 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
haarkon 2:5281a6289e8b 284 */
haarkon 0:dde1b9d6c9d6 285 typedef struct {
haarkon 0:dde1b9d6c9d6 286 Byte pixIndex;
haarkon 0:dde1b9d6c9d6 287 Byte pixReserved;
haarkon 2:5281a6289e8b 288 sWord pixAngle;
haarkon 0:dde1b9d6c9d6 289 }T_Pixy2InterLine;
haarkon 0:dde1b9d6c9d6 290
haarkon 3:6ba43af28440 291 /**
haarkon 3:6ba43af28440 292 * \struct T_pixy2Intersection
haarkon 3:6ba43af28440 293 * \brief Structured type that match pixy2 intersection definition - used in Line frame (type 48/49) - message payload
haarkon 3:6ba43af28440 294 * \param pixX (Byte) : X axis coordinate of the intersection (in pixel, between 0 and 78)
haarkon 3:6ba43af28440 295 * \param pixY (Byte) : Y axis coordinate of the intersection (in pixel, between 0 and 51)
haarkon 3:6ba43af28440 296 * \param pixN (Byte) : Number of lines connected to the intersection (between 3 and 5)
haarkon 3:6ba43af28440 297 * \param pixReserved (Byte) : Not documented by manufacturer
haarkon 4:eed638064b42 298 * @note This structure is a feature of Line API, packed as a feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference
haarkon 3:6ba43af28440 299 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
haarkon 3:6ba43af28440 300 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
haarkon 3:6ba43af28440 301 */
haarkon 0:dde1b9d6c9d6 302 typedef struct {
haarkon 0:dde1b9d6c9d6 303 Byte pixX;
haarkon 0:dde1b9d6c9d6 304 Byte pixY;
haarkon 0:dde1b9d6c9d6 305 Byte pixN;
haarkon 0:dde1b9d6c9d6 306 Byte pixReserved;
haarkon 0:dde1b9d6c9d6 307 }T_pixy2Intersection;
haarkon 0:dde1b9d6c9d6 308
haarkon 3:6ba43af28440 309 /**
haarkon 3:6ba43af28440 310 * \struct T_pixy2BarCode
haarkon 3:6ba43af28440 311 * \brief Structured type that match pixy2 barcode definition - used in Line frame (type 48/49) - message payload
haarkon 3:6ba43af28440 312 * \param pixX (Byte) : X axis coordinate of the barcode (in pixel, between 0 and 78)
haarkon 3:6ba43af28440 313 * \param pixY (Byte) : Y axis coordinate of the barcode (in pixel, between 0 and 51)
haarkon 3:6ba43af28440 314 * \param pixFlag (Byte) : Flag to indicate if barcode met filtering constraint
haarkon 3:6ba43af28440 315 * \param pixCode (Byte) : Indicate the numeric value associated with the barcode (between 0 and 15)
haarkon 4:eed638064b42 316 * @note This structure is a feature of Line API, packed as a feature in a Line Frame, documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference
haarkon 3:6ba43af28440 317 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
haarkon 3:6ba43af28440 318 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
haarkon 3:6ba43af28440 319 */
haarkon 0:dde1b9d6c9d6 320 typedef struct {
haarkon 0:dde1b9d6c9d6 321 Byte pixX;
haarkon 0:dde1b9d6c9d6 322 Byte pixY;
haarkon 0:dde1b9d6c9d6 323 Byte pixFlag;
haarkon 0:dde1b9d6c9d6 324 Byte pixCode;
haarkon 0:dde1b9d6c9d6 325 }T_pixy2BarCode;
haarkon 0:dde1b9d6c9d6 326
haarkon 4:eed638064b42 327 /**
haarkon 4:eed638064b42 328 * \struct T_pixy2LineFeature
haarkon 4:eed638064b42 329 * \brief Structured type that match pixy2 feature header for Line API - used in Line frame (type 48/49) - message payload
haarkon 4:eed638064b42 330 * \param pixType (Byte) : Type of the feature (can be 1 -> Vector, 2 -> Intersection or 4 -> Barcode)
haarkon 4:eed638064b42 331 * \param pixLength (Byte) : Number of Bytes for this feature
haarkon 4:eed638064b42 332 * @note This structure is the header of features of Line API in Line Frames. Ther can be up to 4 features in a frame. Documented here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:protocol_reference
haarkon 4:eed638064b42 333 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_api
haarkon 4:eed638064b42 334 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:line_tracking
haarkon 4:eed638064b42 335 */
haarkon 0:dde1b9d6c9d6 336 typedef struct {
haarkon 0:dde1b9d6c9d6 337 Byte pixType;
haarkon 0:dde1b9d6c9d6 338 Byte pixLength;
haarkon 0:dde1b9d6c9d6 339 }T_pixy2LineFeature;
haarkon 0:dde1b9d6c9d6 340
haarkon 4:eed638064b42 341 /**
haarkon 4:eed638064b42 342 * \struct T_pixy2Pixel
haarkon 4:eed638064b42 343 * \brief Structured type that match pixy2 video API - used in Video frame (type 112/1) - message payload
haarkon 4:eed638064b42 344 * \param pixBlue (Byte) : Blue RGB value of the average blue component of the 5x5 pixels square centered on X param passes to the function (value between 0 and 255)
haarkon 4:eed638064b42 345 * \param pixGreen (Byte) : Green RGB value of the average blue component of the 5x5 pixels square centered on X param passes to the function (value between 0 and 255)
haarkon 4:eed638064b42 346 * \param pixRed (Byte) : Red RGB value of the average blue component of the 5x5 pixels square centered on X param passes to the function (value between 0 and 255)
haarkon 4:eed638064b42 347 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video_api
haarkon 4:eed638064b42 348 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:video
haarkon 4:eed638064b42 349 */
haarkon 0:dde1b9d6c9d6 350 typedef struct {
haarkon 0:dde1b9d6c9d6 351 Byte pixBlue;
haarkon 0:dde1b9d6c9d6 352 Byte pixGreen;
haarkon 0:dde1b9d6c9d6 353 Byte pixRed;
haarkon 0:dde1b9d6c9d6 354 }T_pixy2Pixel;
haarkon 0:dde1b9d6c9d6 355
haarkon 0:dde1b9d6c9d6 356 /**
haarkon 0:dde1b9d6c9d6 357 * Pixy2 : CMU CAM 5 - Smart camera
haarkon 0:dde1b9d6c9d6 358 * More informations at http://www.pixycam.com/
haarkon 0:dde1b9d6c9d6 359 */
haarkon 0:dde1b9d6c9d6 360 class PIXY2 {
haarkon 0:dde1b9d6c9d6 361
haarkon 0:dde1b9d6c9d6 362 protected :
haarkon 0:dde1b9d6c9d6 363
haarkon 0:dde1b9d6c9d6 364 Serial* _Pixy2;
haarkon 0:dde1b9d6c9d6 365
haarkon 0:dde1b9d6c9d6 366 public :
haarkon 0:dde1b9d6c9d6 367 /**
haarkon 0:dde1b9d6c9d6 368 * Constructor of pixy2 object.
haarkon 0:dde1b9d6c9d6 369 *
haarkon 0:dde1b9d6c9d6 370 * @param tx : the Mbed pin used as TX
haarkon 0:dde1b9d6c9d6 371 * @param rx : the Mbed pin used as RX
haarkon 0:dde1b9d6c9d6 372 * @param debit : the bitrate of the serial (max value is 230400 b/s)
haarkon 0:dde1b9d6c9d6 373 */
haarkon 0:dde1b9d6c9d6 374 PIXY2(PinName tx, PinName rx, int debit = 230400);
haarkon 0:dde1b9d6c9d6 375
haarkon 0:dde1b9d6c9d6 376 // Fonctions publiques
haarkon 3:6ba43af28440 377
haarkon 3:6ba43af28440 378 /**
haarkon 5:28e47187bb5c 379 * Queries and receives the firmware and hardware version of Pixy2, which is put in the version member variable.
haarkon 5:28e47187bb5c 380 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 5:28e47187bb5c 381 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 5:28e47187bb5c 382 * @param version (T_Pixy2Version - passed by reference) : pointer to the version data structure
haarkon 6:e9e3aa6f1a55 383 * @return Pixy2ErrorCode : error code.
haarkon 3:6ba43af28440 384 */
haarkon 6:e9e3aa6f1a55 385 Pixy2ErrorCode pixy2_getVersion (T_Pixy2Version *version);
haarkon 4:eed638064b42 386
haarkon 4:eed638064b42 387 /**
haarkon 5:28e47187bb5c 388 * Gets the width and height of the frames used by the current program.
haarkon 9:764075b514bf 389 * After calling this function, the width and height can be found in the frameWidth and frameHeight member variables.
haarkon 5:28e47187bb5c 390 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 5:28e47187bb5c 391 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 5:28e47187bb5c 392 * @param resolution (T_Pixy2Resolution - passed by reference) : pointer to the resolution data structure
haarkon 6:e9e3aa6f1a55 393 * @return Pixy2ErrorCode : error code.
haarkon 4:eed638064b42 394 */
haarkon 6:e9e3aa6f1a55 395 Pixy2ErrorCode pixy2_getResolution (T_Pixy2Resolution *resolution);
haarkon 5:28e47187bb5c 396
haarkon 5:28e47187bb5c 397 /**
haarkon 9:764075b514bf 398 * Sets the relative exposure level of Pixy2's image sensor.
haarkon 9:764075b514bf 399 * Higher values result in a brighter (more exposed) image.
haarkon 5:28e47187bb5c 400 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 5:28e47187bb5c 401 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 5:28e47187bb5c 402 * @param brightness (Byte - passed by value) : brightness level
haarkon 6:e9e3aa6f1a55 403 * @return Pixy2ErrorCode : error code.
haarkon 6:e9e3aa6f1a55 404 */
haarkon 6:e9e3aa6f1a55 405 Pixy2ErrorCode pixy2_setCameraBrightness (Byte brightness);
haarkon 6:e9e3aa6f1a55 406
haarkon 6:e9e3aa6f1a55 407 /**
haarkon 8:c93e1d706c0e 408 * Sets the servo positions of servos plugged into Pixy2's two RC servo connectors.
haarkon 6:e9e3aa6f1a55 409 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 6:e9e3aa6f1a55 410 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 7:1163b9c3274b 411 * @param s0 (Word - passed by value) : value between 0 and 511
haarkon 7:1163b9c3274b 412 * @param s1 (Word - passed by value) : value between 0 and 511
haarkon 6:e9e3aa6f1a55 413 * @return Pixy2ErrorCode : error code.
haarkon 5:28e47187bb5c 414 */
haarkon 6:e9e3aa6f1a55 415 Pixy2ErrorCode pixy2_setServos (Word s0, Word s1);
haarkon 8:c93e1d706c0e 416
haarkon 8:c93e1d706c0e 417 /**
haarkon 8:c93e1d706c0e 418 * Sets Pixy2's RGB LED value. The three arguments sets the brightness of the red, green and blue sections of the LED.
haarkon 9:764075b514bf 419 * It will override Pixy2's own setting of the RGB LED.
haarkon 8:c93e1d706c0e 420 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 8:c93e1d706c0e 421 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 8:c93e1d706c0e 422 * @param red (Byte - passed by value) : Red component value (between 0 and 255)
haarkon 8:c93e1d706c0e 423 * @param green (Byte - passed by value) : Green component value (between 0 and 255)
haarkon 8:c93e1d706c0e 424 * @param blue (Byte - passed by value) : Blue component value (between 0 and 255)
haarkon 8:c93e1d706c0e 425 * @return Pixy2ErrorCode : error code.
haarkon 8:c93e1d706c0e 426 */
haarkon 6:e9e3aa6f1a55 427 Pixy2ErrorCode pixy2_setLED (Byte red, Byte green, Byte blue);
haarkon 8:c93e1d706c0e 428
haarkon 8:c93e1d706c0e 429 /**
haarkon 8:c93e1d706c0e 430 * Turns on/off Pixy2's integrated light source.
haarkon 9:764075b514bf 431 * The upper argument controls the two white LEDs along the top edge of Pixy2's PCB. The lower argument sets the RGB LED, causing it to turn on all three color channels at full brightness, resulting in white light.
haarkon 9:764075b514bf 432 * It will override Pixy2's own setting of the RGB LED.
haarkon 8:c93e1d706c0e 433 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 8:c93e1d706c0e 434 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 8:c93e1d706c0e 435 * @param upper (Byte - passed by value) : binary, zero or non-zero
haarkon 8:c93e1d706c0e 436 * @param lower (Byte - passed by value) : binary, zero or non-zero
haarkon 8:c93e1d706c0e 437 * @return Pixy2ErrorCode : error code.
haarkon 8:c93e1d706c0e 438 */
haarkon 6:e9e3aa6f1a55 439 Pixy2ErrorCode pixy2_setLamp (Byte upper, Byte lower);
haarkon 8:c93e1d706c0e 440
haarkon 8:c93e1d706c0e 441 /**
haarkon 8:c93e1d706c0e 442 * Gets Pixy2's framerate.
haarkon 8:c93e1d706c0e 443 * The framerate can range between 2 and 62 frames per second depending on the amount of light in the environment and the min frames per second setting in the Camera configuration tab.
haarkon 9:764075b514bf 444 * This function can also serve as a simple indicator of the amount of light in the environment. That is, low framerates necessarily imply lower lighting levels
haarkon 8:c93e1d706c0e 445 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 8:c93e1d706c0e 446 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:general_api
haarkon 8:c93e1d706c0e 447 * @param framerate (T_pixy2returnCode - passed by reference) : acknoledge
haarkon 8:c93e1d706c0e 448 * @return Pixy2ErrorCode : error code.
haarkon 8:c93e1d706c0e 449 */
haarkon 6:e9e3aa6f1a55 450 Pixy2ErrorCode pixy2_getFPS (T_pixy2returnCode *framerate);
haarkon 9:764075b514bf 451
haarkon 9:764075b514bf 452 /**
haarkon 9:764075b514bf 453 * Gets all detected blocks in the most recent frame.
haarkon 9:764075b514bf 454 * The new data is then available in the blocks member variable. The returned blocks are sorted by area, with the largest blocks appearing first in the blocks array.
haarkon 9:764075b514bf 455 * @note General description : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components
haarkon 9:764075b514bf 456 * @note Frame Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:porting_guide
haarkon 9:764075b514bf 457 * @note Function Documentation : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:pixy2_full_api#plugin_include__wiki__v2__ccc_api
haarkon 9:764075b514bf 458 * @param sigmap (Byte - passed by value) : signature filtering
haarkon 9:764075b514bf 459 * @param maxBloc (Byte - passed by value) : maximum number of blocks to return
haarkon 9:764075b514bf 460 * @return Pixy2ErrorCode : error code.
haarkon 9:764075b514bf 461 * @note There is 7 possible signatures definition. Filtering is based on ORing codes : 1 for signature 1 (sig1), 2 for sig2, 4 for sig3, etc. and 7 for color code. 255 = no filtering, 0 = filter all. For example filtering to get only sig1 and sig 4 means using 9 (8 + 1) as sigmap.
haarkon 9:764075b514bf 462 */
haarkon 6:e9e3aa6f1a55 463 Pixy2ErrorCode pixy2_getBlocks (Byte sigmap, Byte maxBloc);
haarkon 6:e9e3aa6f1a55 464 Pixy2ErrorCode pixy2_getMainFeature (Byte type, Byte features);
haarkon 6:e9e3aa6f1a55 465 Pixy2ErrorCode pixy2_getAllFeature (Byte features);
haarkon 6:e9e3aa6f1a55 466 Pixy2ErrorCode pixy2_setMode (Byte mode);
haarkon 6:e9e3aa6f1a55 467 Pixy2ErrorCode pixy2_setNexTurn (Word angle);
haarkon 6:e9e3aa6f1a55 468 Pixy2ErrorCode pixy2_setDefaultTurn (Word angle);
haarkon 6:e9e3aa6f1a55 469 Pixy2ErrorCode pixy2_setVector (Byte vectorIndex);
haarkon 6:e9e3aa6f1a55 470 Pixy2ErrorCode pixy2_ReverseVector (void);
haarkon 6:e9e3aa6f1a55 471 Pixy2ErrorCode pixy2_getRGB (Word x, Word y, Byte saturate, T_pixy2Pixel *pixel);
haarkon 0:dde1b9d6c9d6 472
haarkon 0:dde1b9d6c9d6 473 // Variables globales Publiques
haarkon 0:dde1b9d6c9d6 474 Byte Pixy2_numBlocks;
haarkon 0:dde1b9d6c9d6 475 T_pixy2Bloc Pixy2_blocks[];
haarkon 0:dde1b9d6c9d6 476 Byte Pixy2_numVectors;
haarkon 0:dde1b9d6c9d6 477 T_Pixy2Vector Pixy2_vectors[];
haarkon 0:dde1b9d6c9d6 478 Byte Pixy2_numIntersections;
haarkon 0:dde1b9d6c9d6 479 T_pixy2Intersection Pixy2_intersections[];
haarkon 0:dde1b9d6c9d6 480 T_Pixy2InterLine Pixy2_intLines[];
haarkon 0:dde1b9d6c9d6 481 Byte Pixy2_numBarcodes;
haarkon 0:dde1b9d6c9d6 482 T_pixy2BarCode Pixy2_barcodes[];
haarkon 0:dde1b9d6c9d6 483
haarkon 0:dde1b9d6c9d6 484 private :
haarkon 0:dde1b9d6c9d6 485 // Variables globales Privées
haarkon 0:dde1b9d6c9d6 486 T_Pixy2State etat;
haarkon 0:dde1b9d6c9d6 487 Byte* Pixy2_buffer;
haarkon 0:dde1b9d6c9d6 488 Byte wPointer, rPointer, dataSize;
haarkon 0:dde1b9d6c9d6 489 Byte frameContainChecksum;
haarkon 0:dde1b9d6c9d6 490
haarkon 0:dde1b9d6c9d6 491 // Fonctions privées
haarkon 6:e9e3aa6f1a55 492 Pixy2ErrorCode pixy2_sndGetVersion (void);
haarkon 6:e9e3aa6f1a55 493 Pixy2ErrorCode pixy2_sndGetResolution (void);
haarkon 6:e9e3aa6f1a55 494 Pixy2ErrorCode pixy2_sndSetCameraBrightness (Byte brightness);
haarkon 6:e9e3aa6f1a55 495 Pixy2ErrorCode pixy2_sndSetServo (Word s0, Word s1);
haarkon 6:e9e3aa6f1a55 496 Pixy2ErrorCode pixy2_sndSetLED (Byte red, Byte green, Byte blue);
haarkon 6:e9e3aa6f1a55 497 Pixy2ErrorCode pixy2_sndSetLamp (Byte upper, Byte lower);
haarkon 6:e9e3aa6f1a55 498 Pixy2ErrorCode pixy2_sndGetFPS (void);
haarkon 6:e9e3aa6f1a55 499 Pixy2ErrorCode pixy2_sndGetBlocks (Byte sigmap, Byte maxBloc);
haarkon 6:e9e3aa6f1a55 500 Pixy2ErrorCode pixy2_sndGetMainFeature (Byte type, Byte feature);
haarkon 6:e9e3aa6f1a55 501 Pixy2ErrorCode pixy2_sndSetMode (Byte mode);
haarkon 6:e9e3aa6f1a55 502 Pixy2ErrorCode pixy2_sndSetNexTurn (Word angle);
haarkon 6:e9e3aa6f1a55 503 Pixy2ErrorCode pixy2_sndSetDefaultTurn (Word angle);
haarkon 6:e9e3aa6f1a55 504 Pixy2ErrorCode pixy2_sndSetVector (Byte vectorIndex);
haarkon 6:e9e3aa6f1a55 505 Pixy2ErrorCode pixy2_sndReverseVector (void);
haarkon 6:e9e3aa6f1a55 506 Pixy2ErrorCode pixy2_sndGetRGB (Word x, Word y, Byte saturate);
haarkon 0:dde1b9d6c9d6 507
haarkon 0:dde1b9d6c9d6 508 void pixy2_getByte ();
haarkon 6:e9e3aa6f1a55 509 Pixy2ErrorCode pixy2_validateChecksum (Byte* tab);
haarkon 0:dde1b9d6c9d6 510 };
haarkon 0:dde1b9d6c9d6 511
haarkon 0:dde1b9d6c9d6 512 #endif