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...

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

#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.

Referenced by jevois_send_message().

#define JEVOIS_MSG_D1   12

Definition at line 34 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_D2   22

Definition at line 37 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_D3   32

Definition at line 41 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_F2   23

Definition at line 38 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_F3   33

Definition at line 42 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_N1   11

Definition at line 33 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_N2   21

Definition at line 36 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_N3   31

Definition at line 40 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_T1   10

JEVOIS messages types.

Definition at line 32 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_T2   20

Definition at line 35 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_MSG_T3   30

Definition at line 39 of file jevois.h.

Referenced by jevois_parse().

#define JEVOIS_NORM   1000

Normalized data from JEVOIS are between -1000 and 1000.

Definition at line 45 of file jevois.h.

Referenced by jevois_send_message().

#define JEVOIS_VFOV   (3*JEVOIS_HFOV/4)

Camera vertical FOV Camera has a 4/3 ratio.

Definition at line 59 of file jevois.h.

Referenced by jevois_send_message().

Function Documentation

void jevois_event

(

void

)

Definition at line 393 of file jevois.c.

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

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void jevois_init

(

void

)

Definition at line 114 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.

void jevois_report

(

void

)

Definition at line 83 of file jevois.c.

References jevois_msg_t::coord, jevois_t::data_available, DefaultChannel, DefaultDevice, jevois_msg_t::dim, jevois_msg_t::id, jevois, Max, 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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void jevois_send_state

(

void

)

Send state to camera.

Definition at line 436 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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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 403 of file jevois.c.

References JEVOIS_DEV, and uart_put_byte().

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

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void jevois_setmapping

(

int

number

)

Set video mapping.

Parameters

[in]

number

video mapping number

Definition at line 422 of file jevois.c.

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

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void jevois_stream

(

bool

activate

)

Start and stop streaming.

Parameters

[in]

activate

enable or disable streaming

Definition at line 412 of file jevois.c.

References jevois_send_string(), and jevois_stream_setting.

Referenced by jevois_setmapping().

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Variable Documentation

int jevois_mapping_setting

Definition at line 36 of file jevois.c.

Referenced by jevois_init(), and jevois_setmapping().

bool jevois_stream_setting

Definition at line 37 of file jevois.c.

Referenced by jevois_init(), and jevois_stream().