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Fork of TPixy-Interface by
TPixy.h@4:ee635fc62b6e, 2018-06-09 (annotated)
- Committer:
- lenriquez389
- Date:
- Sat Jun 09 03:56:25 2018 +0000
- Revision:
- 4:ee635fc62b6e
- Parent:
- 3:66df7d295245
PIXY
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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swilkins8 | 0:ef0e3c67dc5b | 1 | #ifndef _TPIXY_H |
swilkins8 | 0:ef0e3c67dc5b | 2 | #define _TPIXY_H |
swilkins8 | 0:ef0e3c67dc5b | 3 | #include "mbed.h" |
swilkins8 | 0:ef0e3c67dc5b | 4 | #include "TPixyInterface.h" |
swilkins8 | 0:ef0e3c67dc5b | 5 | |
swilkins8 | 0:ef0e3c67dc5b | 6 | // Communication/misc parameters |
swilkins8 | 0:ef0e3c67dc5b | 7 | #define PIXY_INITIAL_ARRAYSIZE 30 |
swilkins8 | 0:ef0e3c67dc5b | 8 | #define PIXY_MAXIMUM_ARRAYSIZE 130 |
swilkins8 | 0:ef0e3c67dc5b | 9 | #define PIXY_START_WORD 0xaa55 |
swilkins8 | 0:ef0e3c67dc5b | 10 | #define PIXY_START_WORD_CC 0xaa56 |
swilkins8 | 0:ef0e3c67dc5b | 11 | #define PIXY_START_WORDX 0x55aa |
swilkins8 | 0:ef0e3c67dc5b | 12 | #define PIXY_MAX_SIGNATURE 7 |
swilkins8 | 0:ef0e3c67dc5b | 13 | #define PIXY_DEFAULT_ARGVAL 0xffff |
swilkins8 | 0:ef0e3c67dc5b | 14 | |
swilkins8 | 0:ef0e3c67dc5b | 15 | // Pixy x-y position values |
swilkins8 | 0:ef0e3c67dc5b | 16 | #define PIXY_MIN_X 0L |
swilkins8 | 0:ef0e3c67dc5b | 17 | #define PIXY_MAX_X 319L |
swilkins8 | 0:ef0e3c67dc5b | 18 | #define PIXY_MIN_Y 0L |
swilkins8 | 0:ef0e3c67dc5b | 19 | #define PIXY_MAX_Y 199L |
lenriquez389 | 4:ee635fc62b6e | 20 | #define PIXY_CENTER_X ((PIXY_MAX_X-PIXY_MIN_X)/2) |
swilkins8 | 0:ef0e3c67dc5b | 21 | // RC-servo values |
lenriquez389 | 4:ee635fc62b6e | 22 | #define PIXY_RCS_MIN_POS 650L |
swilkins8 | 0:ef0e3c67dc5b | 23 | #define PIXY_RCS_MAX_POS 1000L |
swilkins8 | 0:ef0e3c67dc5b | 24 | #define PIXY_RCS_CENTER_POS ((PIXY_RCS_MAX_POS-PIXY_RCS_MIN_POS)/2) |
swilkins8 | 0:ef0e3c67dc5b | 25 | |
swilkins8 | 0:ef0e3c67dc5b | 26 | enum BlockType { |
swilkins8 | 0:ef0e3c67dc5b | 27 | NORMAL_BLOCK, |
swilkins8 | 0:ef0e3c67dc5b | 28 | CC_BLOCK |
swilkins8 | 0:ef0e3c67dc5b | 29 | }; |
swilkins8 | 0:ef0e3c67dc5b | 30 | |
swilkins8 | 0:ef0e3c67dc5b | 31 | struct Block { |
swilkins8 | 0:ef0e3c67dc5b | 32 | uint16_t signature; |
swilkins8 | 0:ef0e3c67dc5b | 33 | uint16_t x; |
swilkins8 | 0:ef0e3c67dc5b | 34 | uint16_t y; |
swilkins8 | 0:ef0e3c67dc5b | 35 | uint16_t width; |
swilkins8 | 0:ef0e3c67dc5b | 36 | uint16_t height; |
swilkins8 | 0:ef0e3c67dc5b | 37 | uint16_t angle; |
swilkins8 | 0:ef0e3c67dc5b | 38 | }; |
swilkins8 | 0:ef0e3c67dc5b | 39 | |
swilkins8 | 0:ef0e3c67dc5b | 40 | template <class TPixyInterface> class TPixy |
swilkins8 | 0:ef0e3c67dc5b | 41 | { |
swilkins8 | 0:ef0e3c67dc5b | 42 | public: |
swilkins8 | 0:ef0e3c67dc5b | 43 | Serial* serial; |
swilkins8 | 0:ef0e3c67dc5b | 44 | Block *blocks; |
swilkins8 | 0:ef0e3c67dc5b | 45 | TPixy(TPixyInterface* type, Serial* serialOut = NULL, uint16_t arg = PIXY_DEFAULT_ARGVAL); |
swilkins8 | 0:ef0e3c67dc5b | 46 | ~TPixy(); |
swilkins8 | 3:66df7d295245 | 47 | uint16_t getBlocks(uint16_t maxBlocks = 1000); |
swilkins8 | 0:ef0e3c67dc5b | 48 | int8_t setServos(uint16_t s0, uint16_t s1); |
swilkins8 | 0:ef0e3c67dc5b | 49 | void init(); |
swilkins8 | 0:ef0e3c67dc5b | 50 | |
swilkins8 | 0:ef0e3c67dc5b | 51 | private: |
swilkins8 | 0:ef0e3c67dc5b | 52 | TPixyInterface* link; |
swilkins8 | 0:ef0e3c67dc5b | 53 | BlockType blockType; |
swilkins8 | 0:ef0e3c67dc5b | 54 | bool getStart(); |
swilkins8 | 0:ef0e3c67dc5b | 55 | void resize(); |
swilkins8 | 0:ef0e3c67dc5b | 56 | bool skipStart; |
swilkins8 | 0:ef0e3c67dc5b | 57 | uint16_t blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 58 | uint16_t blockArraySize; |
swilkins8 | 0:ef0e3c67dc5b | 59 | }; |
swilkins8 | 0:ef0e3c67dc5b | 60 | |
swilkins8 | 0:ef0e3c67dc5b | 61 | template <class TPixyInterface> void TPixy<TPixyInterface>::init() |
swilkins8 | 0:ef0e3c67dc5b | 62 | { |
swilkins8 | 0:ef0e3c67dc5b | 63 | link->init(); |
swilkins8 | 0:ef0e3c67dc5b | 64 | } |
swilkins8 | 0:ef0e3c67dc5b | 65 | |
swilkins8 | 0:ef0e3c67dc5b | 66 | |
swilkins8 | 0:ef0e3c67dc5b | 67 | template <class TPixyInterface> TPixy<TPixyInterface>::TPixy(TPixyInterface* type, Serial* serialOut, uint16_t arg) : serial(serialOut), link(type) |
swilkins8 | 0:ef0e3c67dc5b | 68 | { |
swilkins8 | 0:ef0e3c67dc5b | 69 | skipStart = false; |
swilkins8 | 0:ef0e3c67dc5b | 70 | blockCount = 0; |
swilkins8 | 0:ef0e3c67dc5b | 71 | blockArraySize = PIXY_INITIAL_ARRAYSIZE; |
swilkins8 | 0:ef0e3c67dc5b | 72 | blocks = (Block *)malloc(sizeof(Block)*blockArraySize); |
swilkins8 | 0:ef0e3c67dc5b | 73 | link->setArg(arg); |
swilkins8 | 0:ef0e3c67dc5b | 74 | } |
swilkins8 | 0:ef0e3c67dc5b | 75 | |
swilkins8 | 0:ef0e3c67dc5b | 76 | template <class TPixyInterface> TPixy<TPixyInterface>::~TPixy() |
swilkins8 | 0:ef0e3c67dc5b | 77 | { |
swilkins8 | 0:ef0e3c67dc5b | 78 | free(blocks); |
swilkins8 | 0:ef0e3c67dc5b | 79 | } |
swilkins8 | 0:ef0e3c67dc5b | 80 | |
swilkins8 | 0:ef0e3c67dc5b | 81 | template <class TPixyInterface> bool TPixy<TPixyInterface>::getStart() |
swilkins8 | 0:ef0e3c67dc5b | 82 | { |
swilkins8 | 0:ef0e3c67dc5b | 83 | uint16_t w, lastw; |
swilkins8 | 0:ef0e3c67dc5b | 84 | lastw = 0xffff; |
swilkins8 | 0:ef0e3c67dc5b | 85 | while(true) { |
swilkins8 | 0:ef0e3c67dc5b | 86 | w = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 87 | if (w == 0 && lastw == 0) { |
swilkins8 | 0:ef0e3c67dc5b | 88 | wait_ms(10); |
swilkins8 | 0:ef0e3c67dc5b | 89 | return false; |
swilkins8 | 0:ef0e3c67dc5b | 90 | } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 91 | blockType = NORMAL_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 92 | return true; |
swilkins8 | 0:ef0e3c67dc5b | 93 | } else if (w == PIXY_START_WORD_CC && lastw == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 94 | blockType = CC_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 95 | return true; |
swilkins8 | 3:66df7d295245 | 96 | } else if (w == PIXY_START_WORDX) { |
swilkins8 | 0:ef0e3c67dc5b | 97 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 98 | serial->printf("reorder"); |
swilkins8 | 0:ef0e3c67dc5b | 99 | } |
swilkins8 | 0:ef0e3c67dc5b | 100 | link->getByte(); // resync |
swilkins8 | 0:ef0e3c67dc5b | 101 | } |
swilkins8 | 0:ef0e3c67dc5b | 102 | lastw = w; |
swilkins8 | 0:ef0e3c67dc5b | 103 | } |
swilkins8 | 0:ef0e3c67dc5b | 104 | } |
swilkins8 | 0:ef0e3c67dc5b | 105 | |
swilkins8 | 0:ef0e3c67dc5b | 106 | template <class TPixyInterface> void TPixy<TPixyInterface>::resize() |
swilkins8 | 0:ef0e3c67dc5b | 107 | { |
swilkins8 | 0:ef0e3c67dc5b | 108 | blockArraySize += PIXY_INITIAL_ARRAYSIZE; |
swilkins8 | 0:ef0e3c67dc5b | 109 | blocks = (Block *)realloc(blocks, sizeof(Block)*blockArraySize); |
swilkins8 | 0:ef0e3c67dc5b | 110 | } |
swilkins8 | 0:ef0e3c67dc5b | 111 | |
swilkins8 | 0:ef0e3c67dc5b | 112 | template <class TPixyInterface> uint16_t TPixy<TPixyInterface>::getBlocks(uint16_t maxBlocks) |
swilkins8 | 0:ef0e3c67dc5b | 113 | { |
swilkins8 | 0:ef0e3c67dc5b | 114 | uint8_t i; |
swilkins8 | 0:ef0e3c67dc5b | 115 | uint16_t w, checksum, sum; |
swilkins8 | 0:ef0e3c67dc5b | 116 | Block *block; |
swilkins8 | 0:ef0e3c67dc5b | 117 | |
swilkins8 | 0:ef0e3c67dc5b | 118 | if (!skipStart) { |
swilkins8 | 0:ef0e3c67dc5b | 119 | if (getStart() == false) { |
swilkins8 | 0:ef0e3c67dc5b | 120 | return 0; |
swilkins8 | 0:ef0e3c67dc5b | 121 | } |
swilkins8 | 0:ef0e3c67dc5b | 122 | } else { |
swilkins8 | 0:ef0e3c67dc5b | 123 | skipStart = false; |
swilkins8 | 0:ef0e3c67dc5b | 124 | } |
swilkins8 | 0:ef0e3c67dc5b | 125 | for(blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) { |
swilkins8 | 0:ef0e3c67dc5b | 126 | checksum = link->getWord(); |
lenriquez389 | 4:ee635fc62b6e | 127 | if (checksum == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 128 | skipStart = true; |
swilkins8 | 0:ef0e3c67dc5b | 129 | blockType = NORMAL_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 130 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 131 | serial->printf("skip"); |
swilkins8 | 0:ef0e3c67dc5b | 132 | } |
swilkins8 | 0:ef0e3c67dc5b | 133 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 134 | } else if (checksum == PIXY_START_WORD_CC) { |
swilkins8 | 0:ef0e3c67dc5b | 135 | skipStart = true; |
swilkins8 | 0:ef0e3c67dc5b | 136 | blockType = CC_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 137 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 138 | } else if (checksum == 0) { |
swilkins8 | 0:ef0e3c67dc5b | 139 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 140 | } |
swilkins8 | 0:ef0e3c67dc5b | 141 | if (blockCount > blockArraySize) { |
swilkins8 | 0:ef0e3c67dc5b | 142 | resize(); |
swilkins8 | 0:ef0e3c67dc5b | 143 | } |
swilkins8 | 0:ef0e3c67dc5b | 144 | block = blocks + blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 145 | |
swilkins8 | 0:ef0e3c67dc5b | 146 | for (i = 0, sum = 0; i < sizeof(Block)/sizeof(uint16_t); i++) { |
swilkins8 | 0:ef0e3c67dc5b | 147 | if (blockType == NORMAL_BLOCK && i >= 5) { // skip |
swilkins8 | 0:ef0e3c67dc5b | 148 | block->angle = 0; |
swilkins8 | 0:ef0e3c67dc5b | 149 | break; |
swilkins8 | 0:ef0e3c67dc5b | 150 | } |
swilkins8 | 0:ef0e3c67dc5b | 151 | w = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 152 | sum += w; |
swilkins8 | 0:ef0e3c67dc5b | 153 | *((uint16_t *)block + i) = w; |
swilkins8 | 0:ef0e3c67dc5b | 154 | } |
swilkins8 | 0:ef0e3c67dc5b | 155 | |
swilkins8 | 0:ef0e3c67dc5b | 156 | if (checksum == sum) { |
swilkins8 | 0:ef0e3c67dc5b | 157 | blockCount++; |
swilkins8 | 0:ef0e3c67dc5b | 158 | } else { |
swilkins8 | 0:ef0e3c67dc5b | 159 | w = link->getWord(); |
swilkins8 | 0:ef0e3c67dc5b | 160 | if (serial != NULL) { |
swilkins8 | 0:ef0e3c67dc5b | 161 | serial->printf("cs error"); |
swilkins8 | 0:ef0e3c67dc5b | 162 | } |
swilkins8 | 0:ef0e3c67dc5b | 163 | } |
swilkins8 | 0:ef0e3c67dc5b | 164 | if (w == PIXY_START_WORD) { |
swilkins8 | 0:ef0e3c67dc5b | 165 | blockType = NORMAL_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 166 | } else if (w == PIXY_START_WORD_CC) { |
swilkins8 | 0:ef0e3c67dc5b | 167 | blockType = CC_BLOCK; |
swilkins8 | 0:ef0e3c67dc5b | 168 | } else { |
swilkins8 | 0:ef0e3c67dc5b | 169 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 170 | } |
swilkins8 | 0:ef0e3c67dc5b | 171 | } |
swilkins8 | 0:ef0e3c67dc5b | 172 | return blockCount; |
swilkins8 | 0:ef0e3c67dc5b | 173 | } |
swilkins8 | 0:ef0e3c67dc5b | 174 | |
swilkins8 | 0:ef0e3c67dc5b | 175 | template <class TPixyInterface> int8_t TPixy<TPixyInterface>::setServos(uint16_t s0, uint16_t s1) |
swilkins8 | 0:ef0e3c67dc5b | 176 | { |
swilkins8 | 0:ef0e3c67dc5b | 177 | uint8_t outBuf[6]; |
swilkins8 | 0:ef0e3c67dc5b | 178 | outBuf[0] = 0x00; |
swilkins8 | 0:ef0e3c67dc5b | 179 | outBuf[1] = 0xff; |
swilkins8 | 0:ef0e3c67dc5b | 180 | *(uint16_t *)(outBuf + 2) = s0; |
swilkins8 | 0:ef0e3c67dc5b | 181 | *(uint16_t *)(outBuf + 4) = s1; |
swilkins8 | 0:ef0e3c67dc5b | 182 | return link->send(outBuf, 6); |
swilkins8 | 0:ef0e3c67dc5b | 183 | } |
swilkins8 | 0:ef0e3c67dc5b | 184 | |
swilkins8 | 0:ef0e3c67dc5b | 185 | #endif |