stereocam.c File Reference

interface to TU Delft serial stereocam Include stereocam.xml to your airframe file. More...

#include "modules/stereocam/stereocam.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/telemetry.h"
#include "pprzlink/messages.h"
#include "pprzlink/intermcu_msg.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"
#include "stereocam_follow_me/follow_me.h"
#include "filters/median_filter.h"

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Macros
#define	FORWARD_IMAGE_DATA   FALSE
#define	STEREO_BODY_TO_STEREO_PHI   0
#define	STEREO_BODY_TO_STEREO_THETA   0
#define	STEREO_BODY_TO_STEREO_PSI   0
#define	STEREOCAM_USE_MEDIAN_FILTER   0

Functions
void	stereocam_init (void)
static void	stereocam_parse_msg (void)
void	stereocam_event (void)
void	state2stereocam (void)

Variables
struct stereocam_t	stereocam
static uint8_t	stereocam_msg_buf [256]
	The message buffer for the stereocamera. More...
struct MedianFilter3Float	medianfilter

Detailed Description

interface to TU Delft serial stereocam Include stereocam.xml to your airframe file.

Parameters STEREO_PORT, STEREO_BAUD, SEND_STEREO should be configured with stereocam.xml.

Definition in file stereocam.c.

Macro Definition Documentation

#define FORWARD_IMAGE_DATA   FALSE

Definition at line 44 of file stereocam.c.

#define STEREO_BODY_TO_STEREO_PHI   0

Definition at line 71 of file stereocam.c.

Referenced by stereocam_init().

#define STEREO_BODY_TO_STEREO_PSI   0

Definition at line 79 of file stereocam.c.

Referenced by stereocam_init().

#define STEREO_BODY_TO_STEREO_THETA   0

Definition at line 75 of file stereocam.c.

Referenced by stereocam_init().

#define STEREOCAM_USE_MEDIAN_FILTER   0

Definition at line 89 of file stereocam.c.

Referenced by stereocam_parse_msg().

Function Documentation

void state2stereocam

(

void

)

Definition at line 216 of file stereocam.c.

References stereocam_t::body_to_cam, stereocam_t::device, float_rmat_mult(), FloatEulers::phi, FloatEulers::psi, stateGetNedToBodyEulers_f(), FloatEulers::theta, and stereocam_t::transport.

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void stereocam_event

(

void

)

Definition at line 202 of file stereocam.c.

References stereocam_t::device, stereocam_t::msg_available, stereocam_msg_buf, stereocam_parse_msg(), and stereocam_t::transport.

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void stereocam_init

(

void

)

Definition at line 95 of file stereocam.c.

References stereocam_t::body_to_cam, float_rmat_of_eulers, InitMedianFilterVect3Float, MEDIAN_DEFAULT_SIZE, medianfilter, STEREO_BODY_TO_STEREO_PHI, STEREO_BODY_TO_STEREO_PSI, STEREO_BODY_TO_STEREO_THETA, and stereocam_t::transport.

static void stereocam_parse_msg ( void  )

static

Definition at line 107 of file stereocam.c.

References stereocam_t::body_to_cam, DefaultChannel, DefaultDevice, float_rmat_transp_vmult(), follow_me(), get_sys_time_usec(), h(), medianfilter, stereocam_msg_buf, STEREOCAM_USE_MEDIAN_FILTER, UpdateMedianFilterVect3Float, VEL_STEREOCAM_ID, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by stereocam_event().

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Variable Documentation

struct MedianFilter3Float medianfilter

Definition at line 93 of file stereocam.c.

Referenced by stereocam_init(), and stereocam_parse_msg().

struct stereocam_t stereocam

Initial value:

= {
  .device = (&((UART_LINK).device)),
  .msg_available = false
}

Definition at line 82 of file stereocam.c.

uint8_t stereocam_msg_buf[256]

static

The message buffer for the stereocamera.

Definition at line 86 of file stereocam.c.

Referenced by stereocam_event(), and stereocam_parse_msg().