File content as of revision 0:dde1b9d6c9d6:

/**
 * @author Hugues Angelis
 *
 * @section LICENSE
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 * @section DESCRIPTION
 *
 * CMUCAM 5 - Pixy2
 *
 * Datasheet, FAQ and PC drivers :
 *
 * http://www.pixycam.com/
 */

#ifndef _PIXY2_
#define _PIXY2_

/**
 * Include : Mbed Library
 */
#include "mbed.h"

/**
 * Defines
 */
#define PIXY2_NCSHEADERSIZE 4
#define PIXY2_CSHEADERSIZE  4
#define PIXY2_SYNC          0xC1AE
#define PIXY2_CSSYNC        0xC1AF
#define PIXY2_ACK           1
#define PIXY2_ASK_RESOL     12
#define PIXY2_REP_RESOL     13
#define PIXY2_ASK_VERS      14
#define PIXY2_REP_VERS      15
#define PIXY2_SET_BRIGHT    16
#define PIXY2_SET_SERVOS    18
#define PIXY2_SET_LED       20
#define PIXY2_SET_LAMP      22
#define PIXY2_ASK_FPS       24
#define PIXY2_ASK_BLOC      32
#define PIXY2_REP_BLOC      33
#define PIXY2_ASK_LINE      48
#define PIXY2_REP_LINE      49
#define PIXY2_SET_MODE      54
#define PIXY2_SET_TURN      58
#define PIXY2_SET_VECTOR    56
#define PIXY2_SET_DEFTURN   60
#define PIXY2_SET_REVERSE   62
#define PIXY2_ASK_VIDEO     112
 
/**
 *  \struct Byte    ->      Short hand for unsigned char
 *  \struct Word    ->      Short hand for unsigned short
 *  \struct lWord   ->      Short hand for unsigned long
 */
typedef unsigned char   Byte;
typedef unsigned short  Word;
typedef unsigned long   lWord;

typedef enum {idle, messageSent, receivingHeader, headerReceived, receivingData, dataReceived} T_Pixy2State;

typedef union {
    Word    mot;
    Byte    octet[2];
}T_Word;

typedef union {
    lWord   motLong;
    Word    mot[2];
    Byte    octet[4];
}T_lWord;

typedef struct {
    Word                pixSync;
    Byte                pixType;
    Byte                pixLength;
}T_pixy2Header;

typedef struct {
    T_pixy2Header       header;
    Byte                data[5];
}T_pixy2sendFrame;

typedef union {
    T_pixy2sendFrame    frame;
    Byte                data[9];
}T_pixy2sendBuffer;

typedef struct {
    Word                pixSync;
    Byte                pixType;
    Byte                pixLength;
    Word                pixChecksum;
}T_pixy2RcvHeader;

typedef struct {
    lWord               pixAck;
}T_pixy2AckCode;

typedef struct {
    Word                pixHWVersion;
    Byte                pixFWVersionMaj;
    Byte                pixFWVersionMin;
    Word                pixFWBuild;
    char                pixHFString[10];
}T_Pixy2Version;

typedef struct {
    Word                pixFrameWidth;
    Word                pixFrameHeigth;
}T_Pixy2Resolution;

typedef struct {
    lWord               pixFps;
}T_pixy2Framerate;

typedef struct {
    Word                pixSignature;
    Word                pixX;
    Word                pixY;
    Word                pixWidth;
    Word                pixHeight;
    Word                pixAngle;
    Byte                pixIndex;
    Byte                pixAge;
}T_pixy2Bloc;

typedef struct {
    Byte                pixX0;
    Byte                pixY0;
    Byte                pixX1;
    Byte                pixY1;
    Byte                pixIndex;
    Byte                pixFlags;
}T_Pixy2Vector;

typedef struct {
    Byte                pixIndex;
    Byte                pixReserved;
    Word                pixAngle;
}T_Pixy2InterLine;

typedef struct {
    Byte                pixX;
    Byte                pixY;
    Byte                pixN;
    Byte                pixReserved;
}T_pixy2Intersection;

typedef struct {
    Byte                pixX;
    Byte                pixY;
    Byte                pixFlag;
    Byte                pixCode;
}T_pixy2BarCode;

typedef struct {
    Byte                pixType;
    Byte                pixLength;
}T_pixy2LineFeature;

typedef struct {
    Byte                pixBlue;
    Byte                pixGreen;
    Byte                pixRed;
}T_pixy2Pixel;

/**
 * Pixy2 : CMU CAM 5 - Smart camera
 * More informations at http://www.pixycam.com/
 */
class PIXY2 {

protected :

Serial*  _Pixy2;

public :
/**
 * Constructor of pixy2 object.
 *
 * @param tx : the Mbed pin used as TX
 * @param rx : the Mbed pin used as RX
 * @param debit : the bitrate of the serial (max value is 230400 b/s)
 */
PIXY2(PinName tx, PinName rx, int debit = 230400);

// Fonctions publiques
int pixy2_getVersion (T_Pixy2Version *version);
int pixy2_getResolution (T_Pixy2Resolution *resolution);
int pixy2_setCameraBrightness (Byte brightness);
int pixy2_setServos (Word s0, Word s1); 
int pixy2_setLED (Byte red, Byte green, Byte blue);
int pixy2_setLamp (Byte upper, Byte lower);
int pixy2_getFPS (T_pixy2Framerate framerate);
int pixy2_getBlocks (Byte sigmap, Byte maxBloc);
int pixy2_getMainFeature (Byte type, Byte features);
int pixy2_getAllFeature (Byte features);
int pixy2_setMode (Byte mode);
int pixy2_setNexTurn (Word angle);
int pixy2_setDefaultTurn (Word angle);
int pixy2_setVector (Byte vectorIndex);
int pixy2_ReverseVector (void);
int pixy2_getRGB (Word x, Word y, Byte saturate, T_pixy2Pixel *pixel);

// Variables globales Publiques
Byte                Pixy2_numBlocks;
T_pixy2Bloc         Pixy2_blocks[];
Byte                Pixy2_numVectors;
T_Pixy2Vector       Pixy2_vectors[];
Byte                Pixy2_numIntersections;
T_pixy2Intersection Pixy2_intersections[];
T_Pixy2InterLine    Pixy2_intLines[];
Byte                Pixy2_numBarcodes;
T_pixy2BarCode      Pixy2_barcodes[];

private :
// Variables globales Privées
T_Pixy2State        etat;
Byte*               Pixy2_buffer;
Byte                wPointer, rPointer, dataSize;
Byte                frameContainChecksum;

// Fonctions privées
int pixy2_sndGetVersion (void);
int pixy2_sndGetResolution (void);
int pixy2_sndSetCameraBrightness (Byte brightness);
int pixy2_sndSetServo (Word s0, Word s1);
int pixy2_sndSetLED (Byte red, Byte green, Byte blue);
int pixy2_sndSetLamp (Byte upper, Byte lower);
int pixy2_sndGetFPS (void);
int pixy2_sndGetBlocks (Byte sigmap, Byte maxBloc);
int pixy2_sndGetMainFeature (Byte type, Byte feature);
int pixy2_sndSetMode (Byte mode);
int pixy2_sndSetNexTurn (Word angle);
int pixy2_sndSetDefaultTurn (Word angle);
int pixy2_sndSetVector (Byte vectorIndex);
int pixy2_sndReverseVector (void);
int pixy2_sndGetRGB (Word x, Word y, Byte saturate);

void pixy2_getByte ();
int pixy2_validateChecksum (Byte* tab);
};

#endif