[module] support for jevois smart cameras

paparazzi · Feb 8, 2018 · b42caab · b42caab
1 parent 857999e
commit b42caab
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diff --git a/conf/abi.xml b/conf/abi.xml
@@ -124,6 +124,33 @@
       <field name="vel_body_z_FF" type="float" unit="m/s"/>
     </message>
 
+    <message name="JEVOIS_MSG" id="21">
+      <!--description>
+        Standardized serial messages sent by the Jevois smart camera
+        http://jevois.org/doc/UserSerialStyle.html
+      </description-->
+      <field name="type" type="uint8_t">Standardized message type JEVOIS_MSG_[T1|N1|D1|T2|N2|D2|F2|T3|N3|D3|F3]</field>
+      <field name="id" type="char *">Text string describing the reported object</field>
+      <field name="nb" type="uint8_t">Number of elements in the coordinates array</field>
+      <field name="coord" type="int16_t *">List of coordinates corresponding to 1D, 2D or 3D messages</field>
+      <field name="dim" type="uint16_t *">1, 2 or 3D dimension</field>
+      <field name="quat" type="struct FloatQuat">Quaternion that relates the object's frame to the camera's frame, if appropriate</field>
+      <field name="extra" type="char *">Additional text information</field>
+    </message>
+
+    <message name="FOLLOW_TARGET" id="22">
+      <field name="id" type="uint32_t">Object ID to track</field>
+      <field name="frame" type="uint8_t">
+        bitmask to select relative coordinates (0) or global coordinates (1)
+        bit 0: bearing
+        bit 1: height
+        bit 2: distance
+      </field>
+      <field name="bearing" type="float" unit="rad">Direction of object to track</field>
+      <field name="height" type="float" unit="m">Height of object to track</field>
+      <field name="distance" type="float" unit="m">Distance of object to track</field>
+    </message>
+
   </msg_class>
 
 </protocol>
diff --git a/conf/modules/jevois.xml b/conf/modules/jevois.xml
@@ -0,0 +1,35 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="jevois" dir="sensors/cameras">
+  <doc>
+    <description>
+      Decoder for standardized messages from the JEVOIS smart camera (http://jevois.org)
+
+      Data are extracted from a serial link and produce a JEVOIS_MSG ABI message
+    </description>
+    <configure name="JEVOIS_UART" value="UARTX" description="UART on which Jevois camera is connected"/>
+    <configure name="JEVOIS_BAUD" value="B115200" description="UART Baudrate, default to 115200"/>
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="JeVois">
+        <dl_setting MAX="20" MIN="0" STEP="1" VAR="jevois_mapping_setting" shortname="mapping" module="modules/sensors/cameras/jevois" handler="setmapping"/>
+        <dl_setting MAX="1" MIN="0" STEP="1" VAR="jevois_stream_setting" shortname="stream" module="modules/sensors/cameras/jevois" handler="stream" values="FALSE|TRUE"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="jevois.h"/>
+  </header>
+  <init fun="jevois_init()"/>
+  <event fun="jevois_event()"/>
+  <makefile>
+    <configure name="JEVOIS_UART" case="upper|lower"/>
+    <configure name="JEVOIS_BAUD" default="B115200"/>
+    <file name="jevois.c"/>
+    <define name="USE_$(JEVOIS_UART_UPPER)"/>
+    <define name="JEVOIS_DEV" value="$(JEVOIS_UART_LOWER)"/>
+    <define name="$(JEVOIS_UART_UPPER)_BAUD" value="$(JEVOIS_BAUD)"/>
+  </makefile>
+</module>
+