jevois.h File Reference

#include "std.h"

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Macros
#define	JEVOIS_MSG_T1   10
	JEVOIS messages types. More...
#define	JEVOIS_MSG_N1   11
#define	JEVOIS_MSG_D1   12
#define	JEVOIS_MSG_T2   20
#define	JEVOIS_MSG_N2   21
#define	JEVOIS_MSG_D2   22
#define	JEVOIS_MSG_F2   23
#define	JEVOIS_MSG_T3   30
#define	JEVOIS_MSG_N3   31
#define	JEVOIS_MSG_D3   32
#define	JEVOIS_MSG_F3   33
#define	JEVOIS_NORM   1000
	Normalized data from JEVOIS are between -1000 and 1000. More...
#define	JEVOIS_HFOV   RadOfDeg(45)
	Camera horizontal FOV From datasheet it should be 65deg, but it seems that better results are acheived with 45. More...
#define	JEVOIS_VFOV   (3*JEVOIS_HFOV/4)
	Camera vertical FOV Camera has a 4/3 ratio. More...

Functions
void	jevois_init (void)
void	jevois_event (void)
void	jevois_report (void)
void	jevois_send_string (char *s)
	Generic function to send a string command to Jevois. More...
void	jevois_stream (bool activate)
	Start and stop streaming. More...
void	jevois_setmapping (int number)
	Set video mapping. More...
void	jevois_send_state (void)
	Send state to camera. More...
int	jevois_extract_nb (char *in)
	Extract a number from jevoid ID field. More...

Variables
bool	jevois_stream_setting
int	jevois_mapping_setting

Detailed Description

Author

Gautier Hattenberger Decoder for standardized messages from the JEVOIS smart camera (http://jevois.org)

Definition in file jevois.h.

Macro Definition Documentation

JEVOIS_HFOV

#define JEVOIS_HFOV   RadOfDeg(45)

Camera horizontal FOV From datasheet it should be 65deg, but it seems that better results are acheived with 45.

Definition at line 52 of file jevois.h.

JEVOIS_MSG_D1

#define JEVOIS_MSG_D1   12

Definition at line 34 of file jevois.h.

JEVOIS_MSG_D2

#define JEVOIS_MSG_D2   22

Definition at line 37 of file jevois.h.

JEVOIS_MSG_D3

#define JEVOIS_MSG_D3   32

Definition at line 41 of file jevois.h.

JEVOIS_MSG_F2

#define JEVOIS_MSG_F2   23

Definition at line 38 of file jevois.h.

JEVOIS_MSG_F3

#define JEVOIS_MSG_F3   33

Definition at line 42 of file jevois.h.

JEVOIS_MSG_N1

#define JEVOIS_MSG_N1   11

Definition at line 33 of file jevois.h.

JEVOIS_MSG_N2

#define JEVOIS_MSG_N2   21

Definition at line 36 of file jevois.h.

JEVOIS_MSG_N3

#define JEVOIS_MSG_N3   31

Definition at line 40 of file jevois.h.

JEVOIS_MSG_T1

#define JEVOIS_MSG_T1   10

JEVOIS messages types.

Definition at line 32 of file jevois.h.

JEVOIS_MSG_T2

#define JEVOIS_MSG_T2   20

Definition at line 35 of file jevois.h.

JEVOIS_MSG_T3

#define JEVOIS_MSG_T3   30

Definition at line 39 of file jevois.h.

JEVOIS_NORM

#define JEVOIS_NORM   1000

Normalized data from JEVOIS are between -1000 and 1000.

Definition at line 45 of file jevois.h.

JEVOIS_VFOV

#define JEVOIS_VFOV   (3*JEVOIS_HFOV/4)

Camera vertical FOV Camera has a 4/3 ratio.

Definition at line 59 of file jevois.h.

Function Documentation

jevois_event()

void jevois_event

(

void

)

Definition at line 402 of file jevois.c.

References jevois, JEVOIS_DEV, jevois_parse(), uart_char_available(), and uart_getch().

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jevois_extract_nb()

int jevois_extract_nb

(

char *

in

)

Extract a number from jevoid ID field.

Definition at line 130 of file jevois.c.

References JEVOIS_MAX_LEN.

Referenced by jevois_send_message(), and tag_track_cb().

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jevois_init()

void jevois_init

(

void

)

Definition at line 113 of file jevois.c.

References jevois_t::buf, jevois_t::data_available, jevois_t::idx, jevois, jevois_mapping_setting, JEVOIS_MAX_LEN, jevois_stream_setting, JV_SYNC, jevois_t::n, and jevois_t::state.

jevois_report()

void jevois_report

(

void

)

Definition at line 82 of file jevois.c.

References jevois_msg_t::coord, jevois_t::data_available, DefaultChannel, DefaultDevice, jevois_msg_t::dim, jevois_msg_t::id, jevois, jevois_t::msg, jevois_msg_t::nb, FloatQuat::qi, jevois_msg_t::quat, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, and jevois_msg_t::type.

Referenced by jevois_send_message().

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jevois_send_state()

void jevois_send_state

(

void

)

Send state to camera.

Definition at line 445 of file jevois.c.

References alt_mm, jevois_send_string(), FloatQuat::qi, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, stateGetNedToBodyQuat_f(), stateGetPositionEnu_f(), EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

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jevois_send_string()

void jevois_send_string

(

char *

s

)

Generic function to send a string command to Jevois.

Parameters

[in]

s

string command to send

Definition at line 412 of file jevois.c.

References JEVOIS_DEV, s, and uart_put_byte().

Referenced by jevois_send_state(), jevois_setmapping(), and jevois_stream().

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jevois_setmapping()

void jevois_setmapping

(

int

number

)

Set video mapping.

Parameters

[in]

number

video mapping number

Definition at line 431 of file jevois.c.

References jevois_mapping_setting, jevois_send_string(), jevois_stream(), and s.

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jevois_stream()

void jevois_stream

(

bool

activate

)

Start and stop streaming.

Parameters

[in]

activate

enable or disable streaming

Definition at line 421 of file jevois.c.

References jevois_send_string(), and jevois_stream_setting.

Referenced by jevois_setmapping().

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Variable Documentation

jevois_mapping_setting

int jevois_mapping_setting

extern

Definition at line 36 of file jevois.c.

Referenced by jevois_init(), and jevois_setmapping().

jevois_stream_setting

bool jevois_stream_setting

extern

Definition at line 37 of file jevois.c.

Referenced by jevois_init(), and jevois_stream().