Diff: Pixy.h

Revision:

0:6f78c735f07c

Child:

1:183ebbbc9c2e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pixy.h	Sun May 20 08:18:49 2018 +0000
@@ -0,0 +1,209 @@
+/**
+ * @author Hugues Angelis
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * 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 - Pixy
+ *
+ * Datasheet, FAQ and PC drivers :
+ *
+ * http://www.cmucam.org/projects/cmucam5
+ */
+
+#ifndef PIXY_H
+#define PIXY_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define CC_BLOCSIZE         14
+#define N_BLOCSIZE          12
+
+#define N_BLOCCODE          0xAA55
+#define CC_BLOCCODE         0xAA56
+
+    /**
+     * Types
+     */
+    typedef unsigned char   Byte;
+    typedef unsigned short  Word;
+    typedef unsigned long   lWord;
+    
+    typedef struct {
+        Word    checksum;
+        Word    signature;
+        Word    x;
+        Word    y;
+        Word    width;
+        Word    height;
+        Word    angle;
+    } T_pixyCCBloc;
+    
+    typedef struct {
+        Word    checksum;
+        Word    signature;
+        Word    x;
+        Word    y;
+        Word    width;
+        Word    height;
+    } T_pixyNMBloc;
+    
+    typedef union {
+        Byte            tab[14];
+        T_pixyCCBloc    CCbloc;
+    } T_pixyCCData;
+    
+    typedef union {
+        Byte            tab[12];
+        T_pixyNMBloc    NMbloc;
+    } T_pixyNMData;
+
+    typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState;
+    
+    typedef union {
+        lWord   mot;
+        Byte    tab[4];
+    } T_tmpBuffer;
+    
+    typedef union {
+        Word    mot;
+        Byte    tab[2];
+    } T_structBuffer;
+    
+
+
+/**
+ * Pixy
+ */
+class PIXY {
+
+protected :
+
+    Serial*  _cmucam;
+
+public :
+
+    /**
+     * Variables globales
+     *
+     * @note
+     *  A FIFO is a circular buffer where data are stored in the order in witch
+     *  they arrive. You need 2 variables to point both read and write registers.
+     *  The library manage both pointers, but access to the FIFO is allowed from
+     *  outside of the library, so you can manage your own read pointers.
+     *  Write pointers are strictly private.   
+     *
+     * @section DESCRIPTION
+     *  Pixy_CCFIFO is a FIFO where the Color Code objects are stored
+     *  Pixy_NMFIFO is a FIFO where the Normal objects are stored
+     *  Pixy_CCObjet is the number of CC object read from the CAM during the last frame
+     *  Pixy_NMObjet is the number of normal object read from the CAM during the last frame
+     */
+    T_pixyCCData        Pixy_CCFIFO[20];    // FIFO des objets ColorCode
+    T_pixyNMData        Pixy_NMFIFO[20];    // FIFO des objets Normaux
+    Byte                Pixy_CCObjet;       // Nombre d'objets de type Color Code
+    Byte                Pixy_NMObjet;       // Nombre d'objets Normaux
+    Byte                Pixy_FirstCCObjet;  // Position dans la FIFO du premier objet de la trame suivante
+    Byte                Pixy_FirstNMObjet;  // Position dans la FIFO du premier objet de la trame suivante
+    
+    
+    /** Liste des Sémaphores
+     *
+     * @note
+     *  Semaphore are global variable used to communicate from ISR with main routine
+     *  All semaphores must be cleared by user.
+     *
+     * @section DESCRIPTION
+     *  FlagPixy is automaticly set after each received image frame
+     *  FlagPixyOverflow is automaticly set if any FIFO oveflows (more than 20 obj). 
+     */
+    int                 FlagPixy, FlagPixyOverflow;
+    int                 Pixy_check;
+
+    /**
+     * Constructor.
+     *
+     * @param tx is the Mbed pin used as TX
+     * @param rx is the Mbed pin used as RX
+     * @param debit is the bitrate of the serial (max value is 230400 b/s)
+     */
+    PIXY(PinName tx, PinName rx, int debit =230400);
+
+    /**
+     * Return the number of objects (normal and ColorCode) that have been
+     * received from the PIXY during the last frame
+     *
+     * @param nbNormal (passed by reference) number of normal object detected
+     * @param nbCC (passed by reference) number of color code object detected
+     * @return : 0 if sucessfull,
+     *          -1 if no PIXY is talking,
+     *          -2 if object(s) have been lost (from previous frame or from actual) 
+     */
+    int detectedObject (int* nbNormal, int* nbCC);
+
+    /**
+     * Reads the oldest Color Code object from the last frame received 
+     *
+     * @note : also manage the Color Code FIFO
+     *
+     * @return a T_PixyCCBloc (see .h for details)
+     */
+    T_pixyCCBloc getCCBloc (void); 
+        
+    /**
+     * Reads the oldest Normal object from the last frame received 
+     *
+     * @note : also manage the Normal FIFO
+     *
+     * @return a T_PixyNMBloc (see .h for details)
+     */
+    T_pixyNMBloc getNMBloc (void); 
+        
+    /**
+     * Set the Brightness of the Pixy
+     *
+     * @param   brightness level (between 0 and 255)
+     * @return  0 if successfull, else -1
+     */
+    int setBrightness (Byte brightness); 
+
+private :
+
+    int Pixy_CCFrameIsNew, Pixy_NMFrameIsNew;
+
+    /**
+     * Fonction d'interruption de lecture sur la liaison série.
+     */
+    void getPixyByte();
+
+
+};
+
+#endif /* PIXY_H */