pixy2 smart camera library www.pixycam.com
Pixy2 Library project (using UART interface)
pixy2.h@0:dde1b9d6c9d6, 2019-02-28 (annotated)
- Committer:
- haarkon
- Date:
- Thu Feb 28 08:34:15 2019 +0000
- Revision:
- 0:dde1b9d6c9d6
- Child:
- 1:dd81f4065b6b
Safety reccording for Pixy2 library.; ; CAUTION -- Not Working -- CAUTION
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 0:dde1b9d6c9d6 | 68 | |
haarkon | 0:dde1b9d6c9d6 | 69 | /** |
haarkon | 0:dde1b9d6c9d6 | 70 | * \struct Byte -> Short hand for unsigned char |
haarkon | 0:dde1b9d6c9d6 | 71 | * \struct Word -> Short hand for unsigned short |
haarkon | 0:dde1b9d6c9d6 | 72 | * \struct lWord -> Short hand for unsigned long |
haarkon | 0:dde1b9d6c9d6 | 73 | */ |
haarkon | 0:dde1b9d6c9d6 | 74 | typedef unsigned char Byte; |
haarkon | 0:dde1b9d6c9d6 | 75 | typedef unsigned short Word; |
haarkon | 0:dde1b9d6c9d6 | 76 | typedef unsigned long lWord; |
haarkon | 0:dde1b9d6c9d6 | 77 | |
haarkon | 0:dde1b9d6c9d6 | 78 | typedef enum {idle, messageSent, receivingHeader, headerReceived, receivingData, dataReceived} T_Pixy2State; |
haarkon | 0:dde1b9d6c9d6 | 79 | |
haarkon | 0:dde1b9d6c9d6 | 80 | typedef union { |
haarkon | 0:dde1b9d6c9d6 | 81 | Word mot; |
haarkon | 0:dde1b9d6c9d6 | 82 | Byte octet[2]; |
haarkon | 0:dde1b9d6c9d6 | 83 | }T_Word; |
haarkon | 0:dde1b9d6c9d6 | 84 | |
haarkon | 0:dde1b9d6c9d6 | 85 | typedef union { |
haarkon | 0:dde1b9d6c9d6 | 86 | lWord motLong; |
haarkon | 0:dde1b9d6c9d6 | 87 | Word mot[2]; |
haarkon | 0:dde1b9d6c9d6 | 88 | Byte octet[4]; |
haarkon | 0:dde1b9d6c9d6 | 89 | }T_lWord; |
haarkon | 0:dde1b9d6c9d6 | 90 | |
haarkon | 0:dde1b9d6c9d6 | 91 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 92 | Word pixSync; |
haarkon | 0:dde1b9d6c9d6 | 93 | Byte pixType; |
haarkon | 0:dde1b9d6c9d6 | 94 | Byte pixLength; |
haarkon | 0:dde1b9d6c9d6 | 95 | }T_pixy2Header; |
haarkon | 0:dde1b9d6c9d6 | 96 | |
haarkon | 0:dde1b9d6c9d6 | 97 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 98 | T_pixy2Header header; |
haarkon | 0:dde1b9d6c9d6 | 99 | Byte data[5]; |
haarkon | 0:dde1b9d6c9d6 | 100 | }T_pixy2sendFrame; |
haarkon | 0:dde1b9d6c9d6 | 101 | |
haarkon | 0:dde1b9d6c9d6 | 102 | typedef union { |
haarkon | 0:dde1b9d6c9d6 | 103 | T_pixy2sendFrame frame; |
haarkon | 0:dde1b9d6c9d6 | 104 | Byte data[9]; |
haarkon | 0:dde1b9d6c9d6 | 105 | }T_pixy2sendBuffer; |
haarkon | 0:dde1b9d6c9d6 | 106 | |
haarkon | 0:dde1b9d6c9d6 | 107 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 108 | Word pixSync; |
haarkon | 0:dde1b9d6c9d6 | 109 | Byte pixType; |
haarkon | 0:dde1b9d6c9d6 | 110 | Byte pixLength; |
haarkon | 0:dde1b9d6c9d6 | 111 | Word pixChecksum; |
haarkon | 0:dde1b9d6c9d6 | 112 | }T_pixy2RcvHeader; |
haarkon | 0:dde1b9d6c9d6 | 113 | |
haarkon | 0:dde1b9d6c9d6 | 114 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 115 | lWord pixAck; |
haarkon | 0:dde1b9d6c9d6 | 116 | }T_pixy2AckCode; |
haarkon | 0:dde1b9d6c9d6 | 117 | |
haarkon | 0:dde1b9d6c9d6 | 118 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 119 | Word pixHWVersion; |
haarkon | 0:dde1b9d6c9d6 | 120 | Byte pixFWVersionMaj; |
haarkon | 0:dde1b9d6c9d6 | 121 | Byte pixFWVersionMin; |
haarkon | 0:dde1b9d6c9d6 | 122 | Word pixFWBuild; |
haarkon | 0:dde1b9d6c9d6 | 123 | char pixHFString[10]; |
haarkon | 0:dde1b9d6c9d6 | 124 | }T_Pixy2Version; |
haarkon | 0:dde1b9d6c9d6 | 125 | |
haarkon | 0:dde1b9d6c9d6 | 126 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 127 | Word pixFrameWidth; |
haarkon | 0:dde1b9d6c9d6 | 128 | Word pixFrameHeigth; |
haarkon | 0:dde1b9d6c9d6 | 129 | }T_Pixy2Resolution; |
haarkon | 0:dde1b9d6c9d6 | 130 | |
haarkon | 0:dde1b9d6c9d6 | 131 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 132 | lWord pixFps; |
haarkon | 0:dde1b9d6c9d6 | 133 | }T_pixy2Framerate; |
haarkon | 0:dde1b9d6c9d6 | 134 | |
haarkon | 0:dde1b9d6c9d6 | 135 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 136 | Word pixSignature; |
haarkon | 0:dde1b9d6c9d6 | 137 | Word pixX; |
haarkon | 0:dde1b9d6c9d6 | 138 | Word pixY; |
haarkon | 0:dde1b9d6c9d6 | 139 | Word pixWidth; |
haarkon | 0:dde1b9d6c9d6 | 140 | Word pixHeight; |
haarkon | 0:dde1b9d6c9d6 | 141 | Word pixAngle; |
haarkon | 0:dde1b9d6c9d6 | 142 | Byte pixIndex; |
haarkon | 0:dde1b9d6c9d6 | 143 | Byte pixAge; |
haarkon | 0:dde1b9d6c9d6 | 144 | }T_pixy2Bloc; |
haarkon | 0:dde1b9d6c9d6 | 145 | |
haarkon | 0:dde1b9d6c9d6 | 146 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 147 | Byte pixX0; |
haarkon | 0:dde1b9d6c9d6 | 148 | Byte pixY0; |
haarkon | 0:dde1b9d6c9d6 | 149 | Byte pixX1; |
haarkon | 0:dde1b9d6c9d6 | 150 | Byte pixY1; |
haarkon | 0:dde1b9d6c9d6 | 151 | Byte pixIndex; |
haarkon | 0:dde1b9d6c9d6 | 152 | Byte pixFlags; |
haarkon | 0:dde1b9d6c9d6 | 153 | }T_Pixy2Vector; |
haarkon | 0:dde1b9d6c9d6 | 154 | |
haarkon | 0:dde1b9d6c9d6 | 155 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 156 | Byte pixIndex; |
haarkon | 0:dde1b9d6c9d6 | 157 | Byte pixReserved; |
haarkon | 0:dde1b9d6c9d6 | 158 | Word pixAngle; |
haarkon | 0:dde1b9d6c9d6 | 159 | }T_Pixy2InterLine; |
haarkon | 0:dde1b9d6c9d6 | 160 | |
haarkon | 0:dde1b9d6c9d6 | 161 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 162 | Byte pixX; |
haarkon | 0:dde1b9d6c9d6 | 163 | Byte pixY; |
haarkon | 0:dde1b9d6c9d6 | 164 | Byte pixN; |
haarkon | 0:dde1b9d6c9d6 | 165 | Byte pixReserved; |
haarkon | 0:dde1b9d6c9d6 | 166 | }T_pixy2Intersection; |
haarkon | 0:dde1b9d6c9d6 | 167 | |
haarkon | 0:dde1b9d6c9d6 | 168 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 169 | Byte pixX; |
haarkon | 0:dde1b9d6c9d6 | 170 | Byte pixY; |
haarkon | 0:dde1b9d6c9d6 | 171 | Byte pixFlag; |
haarkon | 0:dde1b9d6c9d6 | 172 | Byte pixCode; |
haarkon | 0:dde1b9d6c9d6 | 173 | }T_pixy2BarCode; |
haarkon | 0:dde1b9d6c9d6 | 174 | |
haarkon | 0:dde1b9d6c9d6 | 175 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 176 | Byte pixType; |
haarkon | 0:dde1b9d6c9d6 | 177 | Byte pixLength; |
haarkon | 0:dde1b9d6c9d6 | 178 | }T_pixy2LineFeature; |
haarkon | 0:dde1b9d6c9d6 | 179 | |
haarkon | 0:dde1b9d6c9d6 | 180 | typedef struct { |
haarkon | 0:dde1b9d6c9d6 | 181 | Byte pixBlue; |
haarkon | 0:dde1b9d6c9d6 | 182 | Byte pixGreen; |
haarkon | 0:dde1b9d6c9d6 | 183 | Byte pixRed; |
haarkon | 0:dde1b9d6c9d6 | 184 | }T_pixy2Pixel; |
haarkon | 0:dde1b9d6c9d6 | 185 | |
haarkon | 0:dde1b9d6c9d6 | 186 | /** |
haarkon | 0:dde1b9d6c9d6 | 187 | * Pixy2 : CMU CAM 5 - Smart camera |
haarkon | 0:dde1b9d6c9d6 | 188 | * More informations at http://www.pixycam.com/ |
haarkon | 0:dde1b9d6c9d6 | 189 | */ |
haarkon | 0:dde1b9d6c9d6 | 190 | class PIXY2 { |
haarkon | 0:dde1b9d6c9d6 | 191 | |
haarkon | 0:dde1b9d6c9d6 | 192 | protected : |
haarkon | 0:dde1b9d6c9d6 | 193 | |
haarkon | 0:dde1b9d6c9d6 | 194 | Serial* _Pixy2; |
haarkon | 0:dde1b9d6c9d6 | 195 | |
haarkon | 0:dde1b9d6c9d6 | 196 | public : |
haarkon | 0:dde1b9d6c9d6 | 197 | /** |
haarkon | 0:dde1b9d6c9d6 | 198 | * Constructor of pixy2 object. |
haarkon | 0:dde1b9d6c9d6 | 199 | * |
haarkon | 0:dde1b9d6c9d6 | 200 | * @param tx : the Mbed pin used as TX |
haarkon | 0:dde1b9d6c9d6 | 201 | * @param rx : the Mbed pin used as RX |
haarkon | 0:dde1b9d6c9d6 | 202 | * @param debit : the bitrate of the serial (max value is 230400 b/s) |
haarkon | 0:dde1b9d6c9d6 | 203 | */ |
haarkon | 0:dde1b9d6c9d6 | 204 | PIXY2(PinName tx, PinName rx, int debit = 230400); |
haarkon | 0:dde1b9d6c9d6 | 205 | |
haarkon | 0:dde1b9d6c9d6 | 206 | // Fonctions publiques |
haarkon | 0:dde1b9d6c9d6 | 207 | int pixy2_getVersion (T_Pixy2Version *version); |
haarkon | 0:dde1b9d6c9d6 | 208 | int pixy2_getResolution (T_Pixy2Resolution *resolution); |
haarkon | 0:dde1b9d6c9d6 | 209 | int pixy2_setCameraBrightness (Byte brightness); |
haarkon | 0:dde1b9d6c9d6 | 210 | int pixy2_setServos (Word s0, Word s1); |
haarkon | 0:dde1b9d6c9d6 | 211 | int pixy2_setLED (Byte red, Byte green, Byte blue); |
haarkon | 0:dde1b9d6c9d6 | 212 | int pixy2_setLamp (Byte upper, Byte lower); |
haarkon | 0:dde1b9d6c9d6 | 213 | int pixy2_getFPS (T_pixy2Framerate framerate); |
haarkon | 0:dde1b9d6c9d6 | 214 | int pixy2_getBlocks (Byte sigmap, Byte maxBloc); |
haarkon | 0:dde1b9d6c9d6 | 215 | int pixy2_getMainFeature (Byte type, Byte features); |
haarkon | 0:dde1b9d6c9d6 | 216 | int pixy2_getAllFeature (Byte features); |
haarkon | 0:dde1b9d6c9d6 | 217 | int pixy2_setMode (Byte mode); |
haarkon | 0:dde1b9d6c9d6 | 218 | int pixy2_setNexTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 219 | int pixy2_setDefaultTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 220 | int pixy2_setVector (Byte vectorIndex); |
haarkon | 0:dde1b9d6c9d6 | 221 | int pixy2_ReverseVector (void); |
haarkon | 0:dde1b9d6c9d6 | 222 | int pixy2_getRGB (Word x, Word y, Byte saturate, T_pixy2Pixel *pixel); |
haarkon | 0:dde1b9d6c9d6 | 223 | |
haarkon | 0:dde1b9d6c9d6 | 224 | // Variables globales Publiques |
haarkon | 0:dde1b9d6c9d6 | 225 | Byte Pixy2_numBlocks; |
haarkon | 0:dde1b9d6c9d6 | 226 | T_pixy2Bloc Pixy2_blocks[]; |
haarkon | 0:dde1b9d6c9d6 | 227 | Byte Pixy2_numVectors; |
haarkon | 0:dde1b9d6c9d6 | 228 | T_Pixy2Vector Pixy2_vectors[]; |
haarkon | 0:dde1b9d6c9d6 | 229 | Byte Pixy2_numIntersections; |
haarkon | 0:dde1b9d6c9d6 | 230 | T_pixy2Intersection Pixy2_intersections[]; |
haarkon | 0:dde1b9d6c9d6 | 231 | T_Pixy2InterLine Pixy2_intLines[]; |
haarkon | 0:dde1b9d6c9d6 | 232 | Byte Pixy2_numBarcodes; |
haarkon | 0:dde1b9d6c9d6 | 233 | T_pixy2BarCode Pixy2_barcodes[]; |
haarkon | 0:dde1b9d6c9d6 | 234 | |
haarkon | 0:dde1b9d6c9d6 | 235 | private : |
haarkon | 0:dde1b9d6c9d6 | 236 | // Variables globales Privées |
haarkon | 0:dde1b9d6c9d6 | 237 | T_Pixy2State etat; |
haarkon | 0:dde1b9d6c9d6 | 238 | Byte* Pixy2_buffer; |
haarkon | 0:dde1b9d6c9d6 | 239 | Byte wPointer, rPointer, dataSize; |
haarkon | 0:dde1b9d6c9d6 | 240 | Byte frameContainChecksum; |
haarkon | 0:dde1b9d6c9d6 | 241 | |
haarkon | 0:dde1b9d6c9d6 | 242 | // Fonctions privées |
haarkon | 0:dde1b9d6c9d6 | 243 | int pixy2_sndGetVersion (void); |
haarkon | 0:dde1b9d6c9d6 | 244 | int pixy2_sndGetResolution (void); |
haarkon | 0:dde1b9d6c9d6 | 245 | int pixy2_sndSetCameraBrightness (Byte brightness); |
haarkon | 0:dde1b9d6c9d6 | 246 | int pixy2_sndSetServo (Word s0, Word s1); |
haarkon | 0:dde1b9d6c9d6 | 247 | int pixy2_sndSetLED (Byte red, Byte green, Byte blue); |
haarkon | 0:dde1b9d6c9d6 | 248 | int pixy2_sndSetLamp (Byte upper, Byte lower); |
haarkon | 0:dde1b9d6c9d6 | 249 | int pixy2_sndGetFPS (void); |
haarkon | 0:dde1b9d6c9d6 | 250 | int pixy2_sndGetBlocks (Byte sigmap, Byte maxBloc); |
haarkon | 0:dde1b9d6c9d6 | 251 | int pixy2_sndGetMainFeature (Byte type, Byte feature); |
haarkon | 0:dde1b9d6c9d6 | 252 | int pixy2_sndSetMode (Byte mode); |
haarkon | 0:dde1b9d6c9d6 | 253 | int pixy2_sndSetNexTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 254 | int pixy2_sndSetDefaultTurn (Word angle); |
haarkon | 0:dde1b9d6c9d6 | 255 | int pixy2_sndSetVector (Byte vectorIndex); |
haarkon | 0:dde1b9d6c9d6 | 256 | int pixy2_sndReverseVector (void); |
haarkon | 0:dde1b9d6c9d6 | 257 | int pixy2_sndGetRGB (Word x, Word y, Byte saturate); |
haarkon | 0:dde1b9d6c9d6 | 258 | |
haarkon | 0:dde1b9d6c9d6 | 259 | void pixy2_getByte (); |
haarkon | 0:dde1b9d6c9d6 | 260 | int pixy2_validateChecksum (Byte* tab); |
haarkon | 0:dde1b9d6c9d6 | 261 | }; |
haarkon | 0:dde1b9d6c9d6 | 262 | |
haarkon | 0:dde1b9d6c9d6 | 263 | #endif |