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 "modules/stereocam/stereoprotocol.h"

Include dependency graph for stereocam.c:

Go to the source code of this file.

Macros
#define	SEND_STEREO   TRUE
#define	STEREO_PORT   (&((UART_LINK).device))
#define	StereoGetch()   STEREO_PORT ->get_byte(STEREO_PORT->periph)
#define	STEREO_BUF_SIZE   1024
#define	BASELINE_STEREO_MM   60.0
#define	BRANDSPUNTSAFSTAND_STEREO   118.0*6

Functions
void	stereocam_disparity_to_meters (uint8_t *disparity, float *distancesMeters, int lengthArray)
void	stereocam_start (void)
void	stereocam_stop (void)
void	stereocam_periodic (void)

Variables
struct link_device *	linkdev = STEREO_PORT
MsgProperties	msgProperties
uint16_t	freq_counter = 0
uint8_t	frequency = 0
uint32_t	previous_time = 0
uint8_t	ser_read_buf [STEREO_BUF_SIZE]
uint16_t	insert_loc
uint16_t	extract_loc
uint16_t	msg_start
uint8_t	msg_buf [STEREO_BUF_SIZE]
uint8array	stereocam_data = {.len = 0, .data = msg_buf, .fresh = 0, .matrix_width = 0, .matrix_height = 0}

Detailed Description

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

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

Definition in file stereocam.c.

Macro Definition Documentation

#define BASELINE_STEREO_MM   60.0

Definition at line 58 of file stereocam.c.

Referenced by stereocam_disparity_to_meters().

#define BRANDSPUNTSAFSTAND_STEREO   118.0*6

Definition at line 59 of file stereocam.c.

Referenced by stereocam_disparity_to_meters().

#define SEND_STEREO   TRUE

Definition at line 34 of file stereocam.c.

#define STEREO_BUF_SIZE   1024

Definition at line 51 of file stereocam.c.

Referenced by stereocam_periodic().

#define STEREO_PORT   (&((UART_LINK).device))

Definition at line 38 of file stereocam.c.

#define StereoGetch

(

)

STEREO_PORT ->get_byte(STEREO_PORT->periph)

Definition at line 40 of file stereocam.c.

Referenced by stereocam_periodic().

Function Documentation

void stereocam_disparity_to_meters	(	uint8_t *	disparity,
		float *	distancesMeters,
		int	lengthArray
	)

Definition at line 61 of file stereocam.c.

References BASELINE_STEREO_MM, and BRANDSPUNTSAFSTAND_STEREO.

Referenced by serial_update().

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void stereocam_periodic

(

void

)

Definition at line 97 of file stereocam.c.

References link_device::char_available, uint8array::data, DefaultChannel, DefaultDevice, extract_loc, freq_counter, frequency, uint8array::fresh, handleStereoPackage(), insert_loc, uint8array::len, uint8array::matrix_height, uint8array::matrix_width, msg_buf, msg_start, sys_time::nb_tick, link_device::periph, previous_time, ser_read_buf, STEREO_BUF_SIZE, StereoGetch, stereoprot_add(), and sys_time::ticks_per_sec.

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void stereocam_start

(

void

)

Definition at line 76 of file stereocam.c.

References extract_loc, freq_counter, frequency, uint8array::fresh, insert_loc, msg_start, sys_time::nb_tick, and previous_time.

void stereocam_stop

(

void

)

Definition at line 93 of file stereocam.c.

Variable Documentation

uint16_t extract_loc

Definition at line 54 of file stereocam.c.

Referenced by handleStereoPackage(), stereocam_periodic(), and stereocam_start().

uint16_t freq_counter = 0

Definition at line 46 of file stereocam.c.

Referenced by stereocam_periodic(), and stereocam_start().

uint8_t frequency = 0

Definition at line 47 of file stereocam.c.

Referenced by stereocam_periodic(), stereocam_start(), and stereocam_to_state().

uint16_t insert_loc

Definition at line 54 of file stereocam.c.

Referenced by handleStereoPackage(), stereocam_periodic(), and stereocam_start().

struct link_device* linkdev = STEREO_PORT

Definition at line 39 of file stereocam.c.

uint8_t msg_buf[STEREO_BUF_SIZE]

Definition at line 55 of file stereocam.c.

Referenced by stereocam_periodic().

uint16_t msg_start

Definition at line 54 of file stereocam.c.

Referenced by stereocam_periodic(), and stereocam_start().

MsgProperties msgProperties

Definition at line 43 of file stereocam.c.

Referenced by handleStereoPackage().

uint32_t previous_time = 0

Definition at line 48 of file stereocam.c.

Referenced by stereocam_periodic(), and stereocam_start().

uint8_t ser_read_buf[STEREO_BUF_SIZE]

Definition at line 53 of file stereocam.c.

Referenced by stereocam_periodic().

uint8array stereocam_data = {.len = 0, .data = msg_buf, .fresh = 0, .matrix_width = 0, .matrix_height = 0}

Definition at line 56 of file stereocam.c.

Referenced by CN_escape_velocity(), CN_matrix_butterworth(), CN_matrix_Kalman_filter(), CN_potential_heading(), CN_potential_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), follow_me_periodic(), run_avoid_navigation_onvision(), serial_update(), stereo_avoid_run(), stereo_to_state_periodic(), and stereocam_to_state().