bebop.h File Reference

#include "std.h"
#include "peripherals/video_device.h"

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Macros
#define	BOARD_BEBOP
#define	MT9F002_OUTPUT_HEIGHT   3320
#define	MT9F002_OUTPUT_WIDTH   2048
#define	MT9F002_INITIAL_OFFSET_X   1000
#define	MT9F002_INITIAL_OFFSET_Y   0
#define	MT9F002_OUTPUT_SCALER   1.0
	Our output is only OUTPUT_SCALER of the pixels we take of the sensor It is programmable in 1/16 steps determined by ScaleFactor = 16/scale_m. More...
#define	MT9F002_TARGET_EXPOSURE   30
	Exposure of the front camera of the bebop. More...
#define	MT9F002_TARGET_FPS   5
#define	UART1_DEV   /dev/ttyPA1
	uart connected to GPS internally More...
#define	UART2_DEV   /dev/ttyUSB0
	FTDI cable for stereoboard or external GPS. More...
#define	DEFAULT_ACTUATORS   "boards/bebop/actuators.h"
#define	ActuatorDefaultSet(_x, _y)   ActuatorsBebopSet(_x,_y)
#define	ActuatorsDefaultInit()   ActuatorsBebopInit()
#define	ActuatorsDefaultCommit()   ActuatorsBebopCommit()
#define	USE_BARO_BOARD   1
#define	SPI0_MODE   0
#define	SPI0_BITS_PER_WORD   8
#define	SPI0_MAX_SPEED_HZ   320000

Variables
struct video_config_t	bottom_camera
struct video_config_t	front_camera

Macro Definition Documentation

#define ActuatorDefaultSet	(		_x,
			_y
	)		ActuatorsBebopSet(_x,_y)

Definition at line 90 of file bebop.h.

#define ActuatorsDefaultCommit

(

)

ActuatorsBebopCommit()

Definition at line 92 of file bebop.h.

#define ActuatorsDefaultInit

(

)

ActuatorsBebopInit()

Definition at line 91 of file bebop.h.

#define BOARD_BEBOP

Definition at line 26 of file bebop.h.

#define DEFAULT_ACTUATORS   "boards/bebop/actuators.h"

Definition at line 89 of file bebop.h.

#define MT9F002_INITIAL_OFFSET_X   1000

Definition at line 40 of file bebop.h.

Referenced by board_init2().

#define MT9F002_INITIAL_OFFSET_Y   0

Definition at line 44 of file bebop.h.

Referenced by board_init2().

#define MT9F002_OUTPUT_HEIGHT   3320

Definition at line 32 of file bebop.h.

Referenced by board_init2().

#define MT9F002_OUTPUT_SCALER   1.0

Our output is only OUTPUT_SCALER of the pixels we take of the sensor It is programmable in 1/16 steps determined by ScaleFactor = 16/scale_m.

Legal values for scale_m are 16 through 128, giving you the ability to scale from 1:1 to 1:8 (with m=128). Example: output_width = 512 output_height = 830 output_scaler = 0.25 We now get an image of 512 by 830 which contains a "compressed version" of what would normally be an image of 2048 by 3320. Be warned: set your offset x appropriately. Example of what could go wrong: output_width = 512 output_height = 830 output_scaler = 0.25 offset_x = 1500 We now ask for pixels outside the 4608H x 2592V sensor or the 3320H x 2048W of the ISP.

Definition at line 66 of file bebop.h.

Referenced by board_init2().

#define MT9F002_OUTPUT_WIDTH   2048

Definition at line 36 of file bebop.h.

Referenced by board_init2().

#define MT9F002_TARGET_EXPOSURE   30

Exposure of the front camera of the bebop.

Experimental values: Outside: 15 Inside well lit: 30 Inside poorly lit: 60

Definition at line 75 of file bebop.h.

Referenced by board_init2().

#define MT9F002_TARGET_FPS   5

Definition at line 79 of file bebop.h.

Referenced by board_init2().

#define SPI0_BITS_PER_WORD   8

Definition at line 114 of file bebop.h.

#define SPI0_MAX_SPEED_HZ   320000

Definition at line 115 of file bebop.h.

#define SPI0_MODE   0

Definition at line 113 of file bebop.h.

#define UART1_DEV   /dev/ttyPA1

uart connected to GPS internally

Definition at line 84 of file bebop.h.

#define UART2_DEV   /dev/ttyUSB0

FTDI cable for stereoboard or external GPS.

Definition at line 86 of file bebop.h.

#define USE_BARO_BOARD   1

Definition at line 100 of file bebop.h.

Variable Documentation

struct video_config_t bottom_camera

Definition at line 68 of file board.c.

struct video_config_t front_camera

Definition at line 43 of file board.c.