pixy2_command.h File Reference

Pixy2 command API. More...

#include "pixy2_protocol.h"

Go to the source code of this file.

Classes
struct	pixy2_led
	Pixy2 setLED() command arguments. More...
struct	pixy2_lamp
	Pixy2 setLamp() command arguments. More...

Macros
#define	PIXY2_REQUEST(t, l, p, c)
	Prepare a Pixy2 request message.
#define	PIXY2_REPLY(l, p, c)
	Prepare a Pixy2 reply message.

Functions
int	pixy2_print_version (struct pixy2_transport *t)
	Print firmware and hardware information.
int	pixy2_set_led (struct pixy2_transport *t, struct pixy2_led *led)
	Send the setLED command.
int	pixy2_set_lamp (struct pixy2_transport *t, struct pixy2_lamp *lamp)
	Send the setLamp command.

Detailed Description

Pixy2 command API.

This file offers some utility macros and implementation of various commands documented in 1.

Macro Definition Documentation

PIXY2_REPLY

#define PIXY2_REPLY	(		l,
			p,
			c
	)

Value:

{                       \
    .hdr.sync0 = PIXY2_REPLY_SYNC0,     \
    .hdr.sync1 = PIXY2_REPLY_SYNC1,     \
    .hdr.len = l,               \
    .hdr.checksum = c,          \
    .payload = (uint8_t *)p,        \
}

Prepare a Pixy2 reply message.

Use this to create a pixy2_message structure required for receiving a reply from the Pixy2 camera.

Parameters

l	expected reply payload length
p	address to use for storing the payload data
c	boolean indicating if checksum should be performed or not

Return values

newly

created pixy2_message structure

PIXY2_REQUEST

#define PIXY2_REQUEST	(		t,
			l,
			p,
			c
	)

Value:

{                       \
    .hdr.sync0 = PIXY2_REQUEST_SYNC0(c),    \
    .hdr.sync1 = PIXY2_REQUEST_SYNC1(c),    \
    .hdr.type = t,              \
    .hdr.len = l,               \
    .checksum = c,              \
    .payload = (uint8_t *)p,        \
}

Prepare a Pixy2 request message.

Use this to create a pixy2_message structure required for sending a request to the Pixy2 camera.

Parameters

t	request type - one of Pixy2RequestTypes
l	request payload length
p	pointer to payload data
c	boolean indicating if checksum should be performed or not

Return values

newly

created pixy2_message structure

Function Documentation

pixy2_print_version()

int pixy2_print_version

(

struct pixy2_transport *

t

)

Print firmware and hardware information.

Use this to print the firmware and hardware version of the Pixy2 camera.

Parameters

t	pointer to the generic transport layer data

Return values

0	if success
negative	errno code if error

pixy2_set_lamp()

int pixy2_set_lamp	(	struct pixy2_transport *	t,
		struct pixy2_lamp *	lamp
	)

Send the setLamp command.

Use this to toggle the upper/lower LEDs (via the setLamp() command).

Parameters

t	pointer to the generic transport layer data
lamp	pointer to the setLamp command arguments

Return values

0	if success
negative	errno code if error

pixy2_set_led()

int pixy2_set_led	(	struct pixy2_transport *	t,
		struct pixy2_led *	led
	)

Send the setLED command.

Use this to configure the RGB LED (via the setLED() command).

Parameters

t	pointer to the generic transport layer data
led	pointer to the setLED command arguments

Return values

0	if success
negative	errno code if error