CRAC Team / Pixy2-HA

pixy2 smart camera library www.pixycam.com

Pixy2 Library project (using UART interface)

pixy2.h@1:dd81f4065b6b, 2019-02-28 (annotated)

Committer:
haarkon
Date:
Thu Feb 28 11:13:47 2019 +0000
Revision:
1:dd81f4065b6b
Parent:
0:dde1b9d6c9d6
Child:
2:5281a6289e8b
adding documentation part in .h file

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 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 0:dde1b9d6c9d6 79 * \struct Word -> Short hand for unsigned short
haarkon 0:dde1b9d6c9d6 80 * \struct lWord -> Short hand for unsigned long
haarkon 0:dde1b9d6c9d6 81 */
haarkon 0:dde1b9d6c9d6 82 typedef unsigned char Byte;
haarkon 0:dde1b9d6c9d6 83 typedef unsigned short Word;
haarkon 0:dde1b9d6c9d6 84 typedef unsigned long lWord;
haarkon 0:dde1b9d6c9d6 85
haarkon 1:dd81f4065b6b 86 /**
haarkon 1:dd81f4065b6b 87 * \union T_Word
haarkon 1:dd81f4065b6b 88 * \brief Structured type to switch from word to bytes
haarkon 1:dd81f4065b6b 89 * \param mot (Word) : 16 bits word
haarkon 1:dd81f4065b6b 90 * \param octet (Byte) : 2 bytes that overlap mot (byte access)
haarkon 1:dd81f4065b6b 91 */
haarkon 0:dde1b9d6c9d6 92 typedef union {
haarkon 0:dde1b9d6c9d6 93 Word mot;
haarkon 0:dde1b9d6c9d6 94 Byte octet[2];
haarkon 0:dde1b9d6c9d6 95 }T_Word;
haarkon 0:dde1b9d6c9d6 96
haarkon 1:dd81f4065b6b 97 /**
haarkon 1:dd81f4065b6b 98 * \union T_lWord
haarkon 1:dd81f4065b6b 99 * \brief Structured type to switch from lword to word or bytes
haarkon 1:dd81f4065b6b 100 * \param motLong (lWord) : 32 bits word
haarkon 1:dd81f4065b6b 101 * \param mot (Word) : 2 x 16 bits words that overlap motLong (word access)
haarkon 1:dd81f4065b6b 102 * \param octet (Byte) : 4 bytes that overlap motLong (byte access)
haarkon 1:dd81f4065b6b 103 */
haarkon 0:dde1b9d6c9d6 104 typedef union {
haarkon 0:dde1b9d6c9d6 105 lWord motLong;
haarkon 0:dde1b9d6c9d6 106 Word mot[2];
haarkon 0:dde1b9d6c9d6 107 Byte octet[4];
haarkon 0:dde1b9d6c9d6 108 }T_lWord;
haarkon 0:dde1b9d6c9d6 109
haarkon 1:dd81f4065b6b 110
haarkon 1:dd81f4065b6b 111 /**************** HEADERS ****************/
haarkon 1:dd81f4065b6b 112
haarkon 1:dd81f4065b6b 113 /**
haarkon 1:dd81f4065b6b 114 * \struct T_pixy2Header
haarkon 1:dd81f4065b6b 115 * \brief Structured type that match pixy2 header without checksum (send message)
haarkon 1:dd81f4065b6b 116 * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC)
haarkon 1:dd81f4065b6b 117 * \param pixType (Byte) : 8 bits message type identifier
haarkon 1:dd81f4065b6b 118 * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum)
haarkon 1:dd81f4065b6b 119 */
haarkon 0:dde1b9d6c9d6 120 typedef struct {
haarkon 0:dde1b9d6c9d6 121 Word pixSync;
haarkon 0:dde1b9d6c9d6 122 Byte pixType;
haarkon 0:dde1b9d6c9d6 123 Byte pixLength;
haarkon 0:dde1b9d6c9d6 124 }T_pixy2Header;
haarkon 0:dde1b9d6c9d6 125
haarkon 1:dd81f4065b6b 126 /**
haarkon 1:dd81f4065b6b 127 * \struct T_pixy2sendFrame
haarkon 1:dd81f4065b6b 128 * \brief Structured type that match frame definition for all kind of message to send to a pixy2
haarkon 1:dd81f4065b6b 129 * \param header (T_pixy2Header) : 4 bytes classical header starting with PIXY2_SYNC
haarkon 1:dd81f4065b6b 130 * \param data (Byte) : 5 bytes payload (to match all usage, not all byte must be used)
haarkon 1:dd81f4065b6b 131 */
haarkon 0:dde1b9d6c9d6 132 typedef struct {
haarkon 0:dde1b9d6c9d6 133 T_pixy2Header header;
haarkon 0:dde1b9d6c9d6 134 Byte data[5];
haarkon 0:dde1b9d6c9d6 135 }T_pixy2sendFrame;
haarkon 0:dde1b9d6c9d6 136
haarkon 1:dd81f4065b6b 137 /**
haarkon 1:dd81f4065b6b 138 * \union T_pixy2sendBuffer
haarkon 1:dd81f4065b6b 139 * \brief Structured type to switch between structured type T_pixy2sendFrame and bytes
haarkon 1:dd81f4065b6b 140 * \param frame (T_pixy2sendFrame) : classical frame (header + payload) starting with PIXY2_SYNC
haarkon 1:dd81f4065b6b 141 * \param data (Byte) : 9 bytes that overlap frame (byte access)
haarkon 1:dd81f4065b6b 142 */
haarkon 0:dde1b9d6c9d6 143 typedef union {
haarkon 0:dde1b9d6c9d6 144 T_pixy2sendFrame frame;
haarkon 0:dde1b9d6c9d6 145 Byte data[9];
haarkon 0:dde1b9d6c9d6 146 }T_pixy2sendBuffer;
haarkon 0:dde1b9d6c9d6 147
haarkon 1:dd81f4065b6b 148 /**
haarkon 1:dd81f4065b6b 149 * \struct T_pixy2RcvHeader
haarkon 1:dd81f4065b6b 150 * \brief Structured type that match pixy2 header with checksum (received message)
haarkon 1:dd81f4065b6b 151 * \param pixSync (Word) : 16 bits synchro word - could be 0xc1ae (PIXY2_SYNC) or 0xc1af (PIXY2_CSSYNC)
haarkon 1:dd81f4065b6b 152 * \param pixType (Byte) : 8 bits message type identifier
haarkon 1:dd81f4065b6b 153 * \param pixLength (Byte) : 8 bits message payload length (payload doesn't include checksum)
haarkon 1:dd81f4065b6b 154 * \param pixSync (Word) : 16 bits checksum (sum of all bytes of the payload)
haarkon 1:dd81f4065b6b 155 */
haarkon 0:dde1b9d6c9d6 156 typedef struct {
haarkon 0:dde1b9d6c9d6 157 Word pixSync;
haarkon 0:dde1b9d6c9d6 158 Byte pixType;
haarkon 0:dde1b9d6c9d6 159 Byte pixLength;
haarkon 0:dde1b9d6c9d6 160 Word pixChecksum;
haarkon 0:dde1b9d6c9d6 161 }T_pixy2RcvHeader;
haarkon 0:dde1b9d6c9d6 162
haarkon 1:dd81f4065b6b 163
haarkon 1:dd81f4065b6b 164 /**************** PAYLOADS ****************/
haarkon 1:dd81f4065b6b 165
haarkon 1:dd81f4065b6b 166 /**
haarkon 1:dd81f4065b6b 167 * \struct T_pixy2returnCode
haarkon 1:dd81f4065b6b 168 * \brief Structured type that match pixy2 error/acknowledge/reply frame (type = 1 or 3) message payload
haarkon 1:dd81f4065b6b 169 * \param pixReturn (lWord) : 32 bits returned value
haarkon 1:dd81f4065b6b 170 */
haarkon 0:dde1b9d6c9d6 171 typedef struct {
haarkon 1:dd81f4065b6b 172 lWord pixReturn;
haarkon 1:dd81f4065b6b 173 }T_pixy2returnCode;
haarkon 0:dde1b9d6c9d6 174
haarkon 1:dd81f4065b6b 175 /**
haarkon 1:dd81f4065b6b 176 * \struct T_Pixy2Version
haarkon 1:dd81f4065b6b 177 * \brief Structured type that match pixy2 version frame (type = 14/15) message payload
haarkon 1:dd81f4065b6b 178 * \param pixHWVersion (Word) : 16 bits hardWare Version of pixy2
haarkon 1:dd81f4065b6b 179 * \param pixFWVersionMaj (Byte) : 8 bits upper part of firmware (before the dot)
haarkon 1:dd81f4065b6b 180 * \param pixFWVersionMin (Byte) : 8 bits lower part of firmware (after the dot)
haarkon 1:dd81f4065b6b 181 * \param pixFWBuild (Word) : 16 bits firmware build information
haarkon 1:dd81f4065b6b 182 * \param pixHFString (String) : 10 bytes user friendly pixy2 firmware type
haarkon 1:dd81f4065b6b 183 */
haarkon 0:dde1b9d6c9d6 184 typedef struct {
haarkon 0:dde1b9d6c9d6 185 Word pixHWVersion;
haarkon 0:dde1b9d6c9d6 186 Byte pixFWVersionMaj;
haarkon 0:dde1b9d6c9d6 187 Byte pixFWVersionMin;
haarkon 0:dde1b9d6c9d6 188 Word pixFWBuild;
haarkon 0:dde1b9d6c9d6 189 char pixHFString[10];
haarkon 0:dde1b9d6c9d6 190 }T_Pixy2Version;
haarkon 0:dde1b9d6c9d6 191
haarkon 1:dd81f4065b6b 192 /**
haarkon 1:dd81f4065b6b 193 * \struct T_Pixy2Resolution
haarkon 1:dd81f4065b6b 194 * \brief Structured type that match pixy2 resolution frame (type = 12/13) message payload
haarkon 1:dd81f4065b6b 195 * \param pixFrameWidth (Word) : 16 bits width (in pixel) of an image
haarkon 1:dd81f4065b6b 196 * \param pixFrameHeigth (Word) : 16 bits height (in pixel) of an image
haarkon 1:dd81f4065b6b 197 */
haarkon 0:dde1b9d6c9d6 198 typedef struct {
haarkon 0:dde1b9d6c9d6 199 Word pixFrameWidth;
haarkon 0:dde1b9d6c9d6 200 Word pixFrameHeigth;
haarkon 0:dde1b9d6c9d6 201 }T_Pixy2Resolution;
haarkon 0:dde1b9d6c9d6 202
haarkon 1:dd81f4065b6b 203 /**
haarkon 1:dd81f4065b6b 204 * \struct T_pixy2Bloc
haarkon 1:dd81f4065b6b 205 * \brief Structured type that match pixy2 blocks frame (type = 32/33) message payload
haarkon 1:dd81f4065b6b 206 * \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 207 * \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 208 * \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 209 * \param pixWidth (Word) : 16 bits width (in pixels, between 0 and 316) of color bloc
haarkon 1:dd81f4065b6b 210 * \param pixHeight (Word) : 16 bits height (in pixels, between 0 and 208) of color bloc
haarkon 1:dd81f4065b6b 211 * \param pixAngle (Word) : 16 bits angle (in degree, between -180.0 and +180.0) of a color code bloc
haarkon 1:dd81f4065b6b 212 * \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 213 * \param pixAge (Byte) : 8 bits age (in number of frame) of a bloc (doesn't wrap around).
haarkon 1:dd81f4065b6b 214 * @note More info can be found here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:ccc_api
haarkon 1:dd81f4065b6b 215 * @note or here : https://docs.pixycam.com/wiki/doku.php?id=wiki:v2:color_connected_components
haarkon 1:dd81f4065b6b 216 */
haarkon 0:dde1b9d6c9d6 217 typedef struct {
haarkon 0:dde1b9d6c9d6 218 Word pixSignature;
haarkon 0:dde1b9d6c9d6 219 Word pixX;
haarkon 0:dde1b9d6c9d6 220 Word pixY;
haarkon 0:dde1b9d6c9d6 221 Word pixWidth;
haarkon 0:dde1b9d6c9d6 222 Word pixHeight;
haarkon 0:dde1b9d6c9d6 223 Word pixAngle;
haarkon 0:dde1b9d6c9d6 224 Byte pixIndex;
haarkon 0:dde1b9d6c9d6 225 Byte pixAge;
haarkon 0:dde1b9d6c9d6 226 }T_pixy2Bloc;
haarkon 0:dde1b9d6c9d6 227
haarkon 1:dd81f4065b6b 228 /**
haarkon 1:dd81f4065b6b 229 * \struct T_Pixy2Vector
haarkon 1:dd81f4065b6b 230 * \brief Structured type that match pixy2 vector definition - used in Line frame (type 48/49) - message payload
haarkon 1:dd81f4065b6b 231 * \param pixX0 (Byte) : 8 bits X (horizontal, relative to the left of image) position of color bloc center
haarkon 1:dd81f4065b6b 232 * \param pixY0 (Byte) : 8 bits Y (vertical, relative to the top of image) position of color bloc center
haarkon 1:dd81f4065b6b 233 * \param pixX1 (Byte) : 8 bits width (in pixels) of color bloc
haarkon 1:dd81f4065b6b 234 * \param pixY1 (Byte) : 8 bits height (in pixels) of color bloc
haarkon 1:dd81f4065b6b 235 * \param pixIndex (Byte) : 8 bits identification of the color code bloc (used to follow a bloc position)
haarkon 1:dd81f4065b6b 236 * \param pixAge (Byte) : 8 bits age (in number of frame) of a bloc (doesn't wrap around) (used to follow a bloc position)
haarkon 1:dd81f4065b6b 237 */
haarkon 0:dde1b9d6c9d6 238 typedef struct {
haarkon 0:dde1b9d6c9d6 239 Byte pixX0;
haarkon 0:dde1b9d6c9d6 240 Byte pixY0;
haarkon 0:dde1b9d6c9d6 241 Byte pixX1;
haarkon 0:dde1b9d6c9d6 242 Byte pixY1;
haarkon 0:dde1b9d6c9d6 243 Byte pixIndex;
haarkon 0:dde1b9d6c9d6 244 Byte pixFlags;
haarkon 0:dde1b9d6c9d6 245 }T_Pixy2Vector;
haarkon 0:dde1b9d6c9d6 246
haarkon 0:dde1b9d6c9d6 247 typedef struct {
haarkon 0:dde1b9d6c9d6 248 Byte pixIndex;
haarkon 0:dde1b9d6c9d6 249 Byte pixReserved;
haarkon 0:dde1b9d6c9d6 250 Word pixAngle;
haarkon 0:dde1b9d6c9d6 251 }T_Pixy2InterLine;
haarkon 0:dde1b9d6c9d6 252
haarkon 0:dde1b9d6c9d6 253 typedef struct {
haarkon 0:dde1b9d6c9d6 254 Byte pixX;
haarkon 0:dde1b9d6c9d6 255 Byte pixY;
haarkon 0:dde1b9d6c9d6 256 Byte pixN;
haarkon 0:dde1b9d6c9d6 257 Byte pixReserved;
haarkon 0:dde1b9d6c9d6 258 }T_pixy2Intersection;
haarkon 0:dde1b9d6c9d6 259
haarkon 0:dde1b9d6c9d6 260 typedef struct {
haarkon 0:dde1b9d6c9d6 261 Byte pixX;
haarkon 0:dde1b9d6c9d6 262 Byte pixY;
haarkon 0:dde1b9d6c9d6 263 Byte pixFlag;
haarkon 0:dde1b9d6c9d6 264 Byte pixCode;
haarkon 0:dde1b9d6c9d6 265 }T_pixy2BarCode;
haarkon 0:dde1b9d6c9d6 266
haarkon 0:dde1b9d6c9d6 267 typedef struct {
haarkon 0:dde1b9d6c9d6 268 Byte pixType;
haarkon 0:dde1b9d6c9d6 269 Byte pixLength;
haarkon 0:dde1b9d6c9d6 270 }T_pixy2LineFeature;
haarkon 0:dde1b9d6c9d6 271
haarkon 0:dde1b9d6c9d6 272 typedef struct {
haarkon 0:dde1b9d6c9d6 273 Byte pixBlue;
haarkon 0:dde1b9d6c9d6 274 Byte pixGreen;
haarkon 0:dde1b9d6c9d6 275 Byte pixRed;
haarkon 0:dde1b9d6c9d6 276 }T_pixy2Pixel;
haarkon 0:dde1b9d6c9d6 277
haarkon 0:dde1b9d6c9d6 278 /**
haarkon 0:dde1b9d6c9d6 279 * Pixy2 : CMU CAM 5 - Smart camera
haarkon 0:dde1b9d6c9d6 280 * More informations at http://www.pixycam.com/
haarkon 0:dde1b9d6c9d6 281 */
haarkon 0:dde1b9d6c9d6 282 class PIXY2 {
haarkon 0:dde1b9d6c9d6 283
haarkon 0:dde1b9d6c9d6 284 protected :
haarkon 0:dde1b9d6c9d6 285
haarkon 0:dde1b9d6c9d6 286 Serial* _Pixy2;
haarkon 0:dde1b9d6c9d6 287
haarkon 0:dde1b9d6c9d6 288 public :
haarkon 0:dde1b9d6c9d6 289 /**
haarkon 0:dde1b9d6c9d6 290 * Constructor of pixy2 object.
haarkon 0:dde1b9d6c9d6 291 *
haarkon 0:dde1b9d6c9d6 292 * @param tx : the Mbed pin used as TX
haarkon 0:dde1b9d6c9d6 293 * @param rx : the Mbed pin used as RX
haarkon 0:dde1b9d6c9d6 294 * @param debit : the bitrate of the serial (max value is 230400 b/s)
haarkon 0:dde1b9d6c9d6 295 */
haarkon 0:dde1b9d6c9d6 296 PIXY2(PinName tx, PinName rx, int debit = 230400);
haarkon 0:dde1b9d6c9d6 297
haarkon 0:dde1b9d6c9d6 298 // Fonctions publiques
haarkon 0:dde1b9d6c9d6 299 int pixy2_getVersion (T_Pixy2Version *version);
haarkon 0:dde1b9d6c9d6 300 int pixy2_getResolution (T_Pixy2Resolution *resolution);
haarkon 0:dde1b9d6c9d6 301 int pixy2_setCameraBrightness (Byte brightness);
haarkon 0:dde1b9d6c9d6 302 int pixy2_setServos (Word s0, Word s1);
haarkon 0:dde1b9d6c9d6 303 int pixy2_setLED (Byte red, Byte green, Byte blue);
haarkon 0:dde1b9d6c9d6 304 int pixy2_setLamp (Byte upper, Byte lower);
haarkon 1:dd81f4065b6b 305 int pixy2_getFPS (T_pixy2returnCode *framerate);
haarkon 0:dde1b9d6c9d6 306 int pixy2_getBlocks (Byte sigmap, Byte maxBloc);
haarkon 0:dde1b9d6c9d6 307 int pixy2_getMainFeature (Byte type, Byte features);
haarkon 0:dde1b9d6c9d6 308 int pixy2_getAllFeature (Byte features);
haarkon 0:dde1b9d6c9d6 309 int pixy2_setMode (Byte mode);
haarkon 0:dde1b9d6c9d6 310 int pixy2_setNexTurn (Word angle);
haarkon 0:dde1b9d6c9d6 311 int pixy2_setDefaultTurn (Word angle);
haarkon 0:dde1b9d6c9d6 312 int pixy2_setVector (Byte vectorIndex);
haarkon 0:dde1b9d6c9d6 313 int pixy2_ReverseVector (void);
haarkon 0:dde1b9d6c9d6 314 int pixy2_getRGB (Word x, Word y, Byte saturate, T_pixy2Pixel *pixel);
haarkon 0:dde1b9d6c9d6 315
haarkon 0:dde1b9d6c9d6 316 // Variables globales Publiques
haarkon 0:dde1b9d6c9d6 317 Byte Pixy2_numBlocks;
haarkon 0:dde1b9d6c9d6 318 T_pixy2Bloc Pixy2_blocks[];
haarkon 0:dde1b9d6c9d6 319 Byte Pixy2_numVectors;
haarkon 0:dde1b9d6c9d6 320 T_Pixy2Vector Pixy2_vectors[];
haarkon 0:dde1b9d6c9d6 321 Byte Pixy2_numIntersections;
haarkon 0:dde1b9d6c9d6 322 T_pixy2Intersection Pixy2_intersections[];
haarkon 0:dde1b9d6c9d6 323 T_Pixy2InterLine Pixy2_intLines[];
haarkon 0:dde1b9d6c9d6 324 Byte Pixy2_numBarcodes;
haarkon 0:dde1b9d6c9d6 325 T_pixy2BarCode Pixy2_barcodes[];
haarkon 0:dde1b9d6c9d6 326
haarkon 0:dde1b9d6c9d6 327 private :
haarkon 0:dde1b9d6c9d6 328 // Variables globales Privées
haarkon 0:dde1b9d6c9d6 329 T_Pixy2State etat;
haarkon 0:dde1b9d6c9d6 330 Byte* Pixy2_buffer;
haarkon 0:dde1b9d6c9d6 331 Byte wPointer, rPointer, dataSize;
haarkon 0:dde1b9d6c9d6 332 Byte frameContainChecksum;
haarkon 0:dde1b9d6c9d6 333
haarkon 0:dde1b9d6c9d6 334 // Fonctions privées
haarkon 0:dde1b9d6c9d6 335 int pixy2_sndGetVersion (void);
haarkon 0:dde1b9d6c9d6 336 int pixy2_sndGetResolution (void);
haarkon 0:dde1b9d6c9d6 337 int pixy2_sndSetCameraBrightness (Byte brightness);
haarkon 0:dde1b9d6c9d6 338 int pixy2_sndSetServo (Word s0, Word s1);
haarkon 0:dde1b9d6c9d6 339 int pixy2_sndSetLED (Byte red, Byte green, Byte blue);
haarkon 0:dde1b9d6c9d6 340 int pixy2_sndSetLamp (Byte upper, Byte lower);
haarkon 0:dde1b9d6c9d6 341 int pixy2_sndGetFPS (void);
haarkon 0:dde1b9d6c9d6 342 int pixy2_sndGetBlocks (Byte sigmap, Byte maxBloc);
haarkon 0:dde1b9d6c9d6 343 int pixy2_sndGetMainFeature (Byte type, Byte feature);
haarkon 0:dde1b9d6c9d6 344 int pixy2_sndSetMode (Byte mode);
haarkon 0:dde1b9d6c9d6 345 int pixy2_sndSetNexTurn (Word angle);
haarkon 0:dde1b9d6c9d6 346 int pixy2_sndSetDefaultTurn (Word angle);
haarkon 0:dde1b9d6c9d6 347 int pixy2_sndSetVector (Byte vectorIndex);
haarkon 0:dde1b9d6c9d6 348 int pixy2_sndReverseVector (void);
haarkon 0:dde1b9d6c9d6 349 int pixy2_sndGetRGB (Word x, Word y, Byte saturate);
haarkon 0:dde1b9d6c9d6 350
haarkon 0:dde1b9d6c9d6 351 void pixy2_getByte ();
haarkon 0:dde1b9d6c9d6 352 int pixy2_validateChecksum (Byte* tab);
haarkon 0:dde1b9d6c9d6 353 };
haarkon 0:dde1b9d6c9d6 354
haarkon 0:dde1b9d6c9d6 355 #endif