依赖与架构准备
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.gitignore
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.vscode/settings.json
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.vscode/settings.json
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{
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"clangd.arguments": [
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"--compile-commands-dir=${workspaceFolder}/build",
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"--completion-style=detailed",
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"--query-driver=/usr/bin/clang",
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"--header-insertion=never"
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],
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}
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LICENSE
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LICENSE
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The MIT License (MIT)
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Copyright © 2026 SimbaRobotics
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Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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README.md
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README.md
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# Amadeus 26
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本项目为 Simba Robotics 为 2026 年机甲大师高校联盟赛编写的哨兵机器人机载计算机识别、导航、决策算法。
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## 依赖
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### 硬件
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每一条后括号内为与主机的连接方式。
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- MV-SUA133GC-T 工业相机 (USB)
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- NUC10i7 微型计算机 (主机)
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- FDI Systems DETA10 IMU 模块 (USB - CP210x 串口芯片 - UART) `/dev/ttyUSB0`
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- 达妙 USB2CAN-DUAL USB 转 CAN 模块 (USB - 模块 - CAN*2) `/dev/ttyACM0`
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### 软件
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- ROS2 Humble
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- OpenCV 4.13 with Contrib
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- Eigen 3
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- MVSDK (工业相机 SDK)
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- dm_device (USB 转 CAN 模块 SDK)
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- 待补充...
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## 目标
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感谢同济 SuperPower 战队！自瞄算法参考同济的 sp_vision_26 。项目目标为使 2026 年采用的
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## 软件架构
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ROS2 基本架构为节点。以每个节点的发布、解析、接收数据为例说明。
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一共有几项：
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- 功能：描述该节点有什么功能
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- 连接：描述该节点需要使用的物理连接硬件的软件接口和参数
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- 接收：描述该节点从直连硬件中接收的数据
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- 订阅：描述该节点从其他节点获取的数据
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- 发布：描述该节点使用 ROS 发布的数据
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- 发送：描述该节点使用直连硬件发送的数据
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### 收发节点
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- 功能：主机对外通信的封装节点。物理上读取收发模块
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- 连接：USB2CAN，协商 CAN 通信速率 1000kbps，`/dev/ttyACM0`
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IMU_CP210x，协商 UART 通信速率 921600，`/dev/ttyUSB0`
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- 接收：USB2CAN -> 裁判系统数据
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- 订阅：中央节点 -> 控制指令
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- 发送：USB2CAN.CAN2 -> 控制指令
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- 发布：IMU 数据（地磁角、六轴角加速度、加速度、陀螺仪）
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裁判系统数据（血量、比赛当前状态）
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USB2CAN 、IMU 连接 OK 标志
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### 中央节点
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- 功能：综合各类信息判断状态与转移，是控制指令发送的唯一来源
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- 订阅：自瞄节点 -> 是否有装甲板、自瞄移动指令、开火指令
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收发节点 -> 裁判系统.血量, 裁判系统.比赛的进程，USB2CAN 连接
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- 发布：当前状态，敌方装甲板颜色（蓝/红），控制指令
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中央节点负责状态转移的判断。整车的决策被设计为一个有限状态机，分为四个状态：索敌、击打、进点、回家。
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```mermaid
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stateDiagram-v2
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[*] --> 等待: 开始
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等待 --> 进点: 通信 OK 且 比赛开始 且 血量 = 100%
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进点 --> 索敌: 到达点内
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索敌 --> 攻击: 搜寻到装甲板
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攻击 --> 索敌: 无装甲板
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索敌 --> 回家: 血量 < 50%
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攻击 --> 回家: 血量 < 50%
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回家 --> 等待: 到达基地
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```
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### 自瞄节点
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- 功能：在视野内搜寻装甲板，自动瞄准并计算何时发射
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- 连接：MV 工业相机
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- 接收：工业相机句柄与帧数据
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- 发布: 自瞄运动指令，视野内是否有装甲板
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### 导航节点
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- 功能：根据 IMU 数据计算出当前位置，根据状态决定目标位置并发出移动到该位置所需的指令
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- 接收：收发节点 -> IMU.地磁角, IMU.速度, IMU.加速度, IMU.六轴陀螺仪
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中央节点 -> 状态
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- 发布：导航运动指令
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5393
camera_sdk/inc/CameraApi.h
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camera_sdk/inc/CameraApi.h
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camera_sdk/inc/CameraDefine.h
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camera_sdk/inc/CameraDefine.h
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#pragma once
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#ifndef _CAMERA_DEFINE_H_
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#define _CAMERA_DEFINE_H_
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#include "CameraStatus.h"
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#define MAX_CROSS_LINE 9
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//相机的句柄类型定义
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typedef int CameraHandle;
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typedef int INT;
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typedef int LONG;
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typedef unsigned int UINT;
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typedef unsigned long long UINT64;
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typedef int BOOL;
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typedef unsigned char BYTE;
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typedef unsigned int DWORD;
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typedef void* PVOID;
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typedef void* HWND;
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typedef char* LPCTSTR;
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typedef unsigned short USHORT;
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typedef short SHORT;
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typedef unsigned char* LPBYTE;
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typedef char CHAR;
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typedef char TCHAR;
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typedef unsigned short WORD;
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typedef INT HANDLE;
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typedef void VOID;
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typedef unsigned int ULONG;
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typedef void* LPVOID;
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typedef unsigned char UCHAR;
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typedef void* HMODULE;
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#define TRUE 1
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#define FALSE 0
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//图像查表变换的方式
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typedef enum
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{
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LUTMODE_PARAM_GEN = 0, //通过调节参数动态生成LUT表
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LUTMODE_PRESET, //使用预设的LUT表
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LUTMODE_USER_DEF //使用用户自定义的LUT表
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} emSdkLutMode;
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//相机的视频流控制
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typedef enum
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{
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RUNMODE_PLAY = 0, //正常预览，捕获到图像就显示。（如果相机处于触发模式，则会等待触发帧的到来）
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RUNMODE_PAUSE, //暂停，会暂停相机的图像输出，同时也不会去捕获图像
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RUNMODE_STOP //停止相机工作。反初始化后，相机就处于停止模式
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} emSdkRunMode;
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//SDK内部显示接口的显示方式
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typedef enum
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{
|
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DISPLAYMODE_SCALE = 0, //缩放显示模式，缩放到显示控件的尺寸
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DISPLAYMODE_REAL //1:1显示模式，当图像尺寸大于显示控件的尺寸时，只显示局部
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} emSdkDisplayMode;
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//录像状态
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typedef enum
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{
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RECORD_STOP = 0, //停止
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RECORD_START, //录像中
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RECORD_PAUSE //暂停
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} emSdkRecordMode;
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//图像的镜像操作
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typedef enum
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{
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MIRROR_DIRECTION_HORIZONTAL = 0,//水平镜像
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MIRROR_DIRECTION_VERTICAL //垂直镜像
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} emSdkMirrorDirection;
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/// @ingroup MV_ENUM_TYPE
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/// \~chinese 图像的旋转操作
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/// \~english Rotation of the image
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typedef enum
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{
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ROTATE_DIRECTION_0 = 0, ///< \~chinese 不旋转 \~english Do not rotate
|
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ROTATE_DIRECTION_90 = 1, ///< \~chinese 逆时针90度 \~english Counterclockwise 90 degrees
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ROTATE_DIRECTION_180 = 2, ///< \~chinese 逆时针180度 \~english Counterclockwise 180 degrees
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ROTATE_DIRECTION_270 = 3, ///< \~chinese 逆时针270度 \~english Counterclockwise 270 degrees
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} emSdkRotateDirection;
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//相机视频的帧率
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typedef enum
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{
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FRAME_SPEED_LOW = 0, //低速模式
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FRAME_SPEED_NORMAL, //普通模式
|
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FRAME_SPEED_HIGH, //高速模式(需要较高的传输带宽,多设备共享传输带宽时会对帧率的稳定性有影响)
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FRAME_SPEED_SUPER //超高速模式(需要较高的传输带宽,多设备共享传输带宽时会对帧率的稳定性有影响)
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} emSdkFrameSpeed;
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//保存文件的格式类型
|
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typedef enum
|
||||
{
|
||||
FILE_JPG = 1,//JPG
|
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FILE_BMP = 2,//BMP
|
||||
FILE_RAW = 4,//相机输出的bayer格式文件,对于不支持bayer格式输出相机，无法保存为该格式
|
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FILE_PNG = 8, //PNG
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FILE_BMP_8BIT = 16, ///< \~chinese BMP 8bit \~english BMP 8bit
|
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FILE_PNG_8BIT = 32, ///< \~chinese PNG 8bit \~english PNG 8bit
|
||||
FILE_RAW_16BIT = 64, ///< \~chinese RAW 16bit \~english RAW 16bit
|
||||
} emSdkFileType;
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|
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/// @ingroup MV_ENUM_TYPE
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/// \~chinese 相机中的图像传感器的工作模式
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/// \~english Image Sensor Operation Mode in Camera
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typedef enum
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{
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/// \~chinese 连续采集模式
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/// \~english Continuous acquisition mode
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CONTINUATION = 0,
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/// \~chinese 软件触发模式，由软件发送指令后，传感器开始采集指定帧数的图像，采集完成后，停止输出
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/// \~english Software trigger mode. After the software sends the instruction, the sensor starts to capture the image of the specified frame number. After the acquisition is completed, the output is stopped.
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SOFT_TRIGGER = 1,
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/// \~chinese 硬件触发模式，当接收到外部信号，传感器开始采集指定帧数的图像，采集完成后，停止输出
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/// \~english In the hardware trigger mode, when receiving an external signal, the sensor starts to capture the image of the specified frame number. After the acquisition is completed, the output is stopped.
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EXTERNAL_TRIGGER = 2,
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/// \~chinese 编码器触发模式（仅用于线阵相机）
|
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/// \~english Encoder trigger mode (only for line scan cameras)
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ROTARYENC_TRIGGER = 3,
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/// \~chinese 编码器条件触发模式（仅用于线阵相机）
|
||||
/// \~english Encoder condition trigger mode (only for line scan cameras)
|
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ROTARYENC_COND_TRIGGER = 4,
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} emSdkSnapMode;
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|
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//自动曝光时抗频闪的频闪
|
||||
typedef enum
|
||||
{
|
||||
LIGHT_FREQUENCY_50HZ = 0,//50HZ,一般的灯光都是50HZ
|
||||
LIGHT_FREQUENCY_60HZ //60HZ,主要是指显示器的
|
||||
} emSdkLightFrequency;
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//相机的配置参数，分为A,B,C,D 4组进行保存。
|
||||
typedef enum
|
||||
{
|
||||
PARAMETER_TEAM_DEFAULT = 0xff,
|
||||
PARAMETER_TEAM_A = 0,
|
||||
PARAMETER_TEAM_B = 1,
|
||||
PARAMETER_TEAM_C = 2,
|
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PARAMETER_TEAM_D = 3
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} emSdkParameterTeam;
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||||
|
||||
|
||||
/*emSdkParameterMode 相机参数加载模式，参数加载分为从文件和从设备加载两种方式
|
||||
|
||||
PARAM_MODE_BY_MODEL:所有同型号的相机共用ABCD四组参数文件。修改
|
||||
一台相机的参数文件，会影响到整个同型号的
|
||||
相机参数加载。
|
||||
|
||||
PARAM_MODE_BY_NAME:所有设备名相同的相机，共用ABCD四组参数文件。
|
||||
默认情况下，当电脑上只接了某型号一台相机时，
|
||||
设备名都是一样的，而您希望某一台相机能够加载
|
||||
不同的参数文件，则可以通过修改其设备名的方式
|
||||
来让其加载指定的参数文件。
|
||||
|
||||
PARAM_MODE_BY_SN:相机按照自己的唯一序列号来加载ABCD四组参数文件，
|
||||
序列号在出厂时已经固化在相机内，每台相机的序列号
|
||||
都不相同，通过这种方式，每台相机的参数文件都是独立的。
|
||||
|
||||
您可以根据自己的使用环境，灵活使用以上几种方式加载参数。例如，以
|
||||
MV-U300为例，您希望多台该型号的相机在您的 电脑上都共用4组参数，那么就
|
||||
使用PARAM_MODE_BY_MODEL方式;如果您希望其中某一台或者某几台MV-U300能
|
||||
使用自己参数文件而其余的MV-U300又要使用相同的参数文件，那么使用
|
||||
PARAM_MODE_BY_NAME方式;如果您希望每台MV-U300都使用不同的参数文件，那么
|
||||
使用PARAM_MODE_BY_SN方式。
|
||||
参数文件存在安装目录的 \Camera\Configs 目录下，以config为后缀名的文件。
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
PARAM_MODE_BY_MODEL = 0, //根据相机型号名从文件中加载参数，例如MV-U300
|
||||
PARAM_MODE_BY_NAME, //根据设备昵称(tSdkCameraDevInfo.acFriendlyName)从文件中加载参数，例如MV-U300,该昵称可自定义
|
||||
PARAM_MODE_BY_SN, //根据设备的唯一序列号从文件中加载参数，序列号在出厂时已经写入设备，每台相机拥有不同的序列号。
|
||||
PARAM_MODE_IN_DEVICE //从设备的固态存储器中加载参数。不是所有的型号都支持从相机中读写参数组，由tSdkCameraCapbility.bParamInDevice决定
|
||||
} emSdkParameterMode;
|
||||
|
||||
|
||||
//SDK生成的相机配置页面掩码值
|
||||
typedef enum
|
||||
{
|
||||
PROP_SHEET_INDEX_EXPOSURE = 0, ///< \~chinese 曝光设置 \~english Exposure Settings
|
||||
PROP_SHEET_INDEX_ISP_COLOR = 1, ///< \~chinese 颜色矩阵设置 \~english Color Matrix Settings
|
||||
PROP_SHEET_INDEX_ISP_LUT = 2, ///< \~chinese LUT设置 \~english LUT setting
|
||||
PROP_SHEET_INDEX_ISP_SHAPE = 3, ///< \~chinese 变换设置 \~english transform settings
|
||||
PROP_SHEET_INDEX_VIDEO_FORMAT = 4, ///< \~chinese 格式设置 \~english Formatting
|
||||
PROP_SHEET_INDEX_RESOLUTION = 5, ///< \~chinese 分辨率设置 \~english resolution setting
|
||||
PROP_SHEET_INDEX_IO_CTRL = 6, ///< \~chinese IO控制 \~english IO control
|
||||
PROP_SHEET_INDEX_TRIGGER_SET = 7, ///< \~chinese 触发模式 \~english trigger setting
|
||||
PROP_SHEET_INDEX_OVERLAY = 8, ///< \~chinese 十字线 \~english Crosshair
|
||||
PROP_SHEET_INDEX_DEVICE_INFO = 9, ///< \~chinese 设备信息 \~english Device Information
|
||||
PROP_SHEET_INDEX_WDR = 10, ///< \~chinese 宽动态 \~english Wide Dynamic
|
||||
PROP_SHEET_INDEX_MULTI_EXPOSURE = 11, ///< \~chinese 多重曝光 \~english Multi exposure
|
||||
PROP_SHEET_INDEX_SPECIAL = 12, ///< \~chinese 特殊设置 \~english Special settings
|
||||
PROP_SHEET_INDEX_GIGE = 13, ///< \~chinese GIGE设置 \~english GIGE settings
|
||||
PROP_SHEET_INDEX_GF_SETTING_I = 14, ///< \~chinese GF系列红外相机设置I \~english GF Settings I
|
||||
PROP_SHEET_INDEX_GF_SETTING_II = 15, ///< \~chinese GF系列红外相机设置II \~english GF Settings II
|
||||
PROP_SHEET_INDEX_NEW_ISP_COLOR = 16, ///< \~chinese 白平衡设置 \~english WB Settings
|
||||
} emSdkPropSheetMask;
|
||||
|
||||
//SDK生成的相机配置页面的回调消息类型
|
||||
typedef enum
|
||||
{
|
||||
SHEET_MSG_LOAD_PARAM_DEFAULT = 0, //参数被恢复成默认后，触发该消息
|
||||
SHEET_MSG_LOAD_PARAM_GROUP, //加载指定参数组，触发该消息
|
||||
SHEET_MSG_LOAD_PARAM_FROMFILE, //从指定文件加载参数后，触发该消息
|
||||
SHEET_MSG_SAVE_PARAM_GROUP //当前参数组被保存时，触发该消息
|
||||
} emSdkPropSheetMsg;
|
||||
|
||||
//可视化选择参考窗口的类型
|
||||
typedef enum
|
||||
{
|
||||
REF_WIN_AUTO_EXPOSURE = 0,
|
||||
REF_WIN_WHITE_BALANCE,
|
||||
} emSdkRefWinType;
|
||||
|
||||
//可视化选择参考窗口的类型
|
||||
typedef enum
|
||||
{
|
||||
RES_MODE_PREVIEW = 0,
|
||||
RES_MODE_SNAPSHOT,
|
||||
} emSdkResolutionMode;
|
||||
|
||||
//白平衡时色温模式
|
||||
typedef enum
|
||||
{
|
||||
CT_MODE_AUTO = 0, //自动识别色温
|
||||
CT_MODE_PRESET, //使用指定的预设色温
|
||||
CT_MODE_USER_DEF //自定义色温(增益和矩阵)
|
||||
} emSdkClrTmpMode;
|
||||
|
||||
//LUT的颜色通道
|
||||
typedef enum
|
||||
{
|
||||
LUT_CHANNEL_ALL = 0,//R,B,G三通道同时调节
|
||||
LUT_CHANNEL_RED, //红色通道
|
||||
LUT_CHANNEL_GREEN, //绿色通道
|
||||
LUT_CHANNEL_BLUE, //蓝色通道
|
||||
} emSdkLutChannel;
|
||||
|
||||
//ISP处理单元
|
||||
typedef enum
|
||||
{
|
||||
ISP_PROCESSSOR_PC = 0,//使用PC的软件ISP模块
|
||||
ISP_PROCESSSOR_DEVICE //使用相机自带的硬件ISP模块
|
||||
} emSdkIspProcessor;
|
||||
|
||||
//闪光灯信号控制方式
|
||||
typedef enum
|
||||
{
|
||||
STROBE_SYNC_WITH_TRIG_AUTO = 0, //和触发信号同步，触发后，相机进行曝光时，自动生成STROBE信号。此时，有效极性可设置(CameraSetStrobePolarity)。
|
||||
STROBE_SYNC_WITH_TRIG_MANUAL, //和触发信号同步，触发后，STROBE延时指定的时间后(CameraSetStrobeDelayTime)，再持续指定时间的脉冲(CameraSetStrobePulseWidth)，有效极性可设置(CameraSetStrobePolarity)。
|
||||
STROBE_ALWAYS_HIGH, //始终为高，忽略STROBE信号的其他设置
|
||||
STROBE_ALWAYS_LOW //始终为低，忽略STROBE信号的其他设置
|
||||
} emStrobeControl;
|
||||
|
||||
//硬件外触发的信号种类
|
||||
typedef enum
|
||||
{
|
||||
EXT_TRIG_LEADING_EDGE = 0, //上升沿触发，默认为该方式
|
||||
EXT_TRIG_TRAILING_EDGE, //下降沿触发
|
||||
EXT_TRIG_HIGH_LEVEL, //高电平触发,电平宽度决定曝光时间，仅部分型号的相机支持电平触发方式。
|
||||
EXT_TRIG_LOW_LEVEL //低电平触发,
|
||||
} emExtTrigSignal;
|
||||
|
||||
//硬件外触发时的快门方式
|
||||
typedef enum
|
||||
{
|
||||
EXT_TRIG_EXP_STANDARD = 0, //标准方式，默认为该方式。
|
||||
EXT_TRIG_EXP_GRR, //全局复位方式，部分滚动快门的CMOS型号的相机支持该方式，配合外部机械快门，可以达到全局快门的效果，适合拍高速运动的物体
|
||||
} emExtTrigShutterMode;
|
||||
|
||||
/// @ingroup MV_ENUM_TYPE
|
||||
/// \~chinese 清晰度评估算法
|
||||
/// \~english Sharpness assessment algorithm
|
||||
typedef enum
|
||||
{
|
||||
EVALUATE_DEFINITION_DEVIATION = 0, ///< \~chinese 方差法 \~english Variance method
|
||||
EVALUATE_DEFINITION_SMD = 1, ///< \~chinese 相邻像素灰度方差法 \~english Adjacent Pixel Gray Difference Method
|
||||
EVALUATE_DEFINITION_GRADIENT = 2, ///< \~chinese 梯度统计 \~english Gradient statistics
|
||||
EVALUATE_DEFINITION_SOBEL = 3, ///< \~chinese Sobel \~english Sobel
|
||||
EVALUATE_DEFINITION_ROBERT = 4, ///< \~chinese Robert \~english Robert
|
||||
EVALUATE_DEFINITION_LAPLACE = 5, ///< \~chinese Laplace \~english Laplace
|
||||
|
||||
EVALUATE_DEFINITION_ALG_MAX = 6, ///< \~chinese 算法个数 \~english The number of algorithms
|
||||
} emEvaluateDefinitionAlgorith;
|
||||
|
||||
/// @ingroup MV_ENUM_TYPE
|
||||
/// \~chinese 文字输出标志
|
||||
/// \~english Text output flag
|
||||
typedef enum
|
||||
{
|
||||
CAMERA_DT_VCENTER = 0x1, ///< \~chinese 垂直居中 \~english Vertically centered
|
||||
CAMERA_DT_BOTTOM = 0x2, ///< \~chinese 底部对齐 \~english Bottom alignment
|
||||
CAMERA_DT_HCENTER = 0x4, ///< \~chinese 水平居中 \~english Horizontally centered
|
||||
CAMERA_DT_RIGHT = 0x8, ///< \~chinese 右对齐 \~english Right alignment
|
||||
CAMERA_DT_SINGLELINE = 0x10, ///< \~chinese 单行显示 \~english Single-line display
|
||||
CAMERA_DT_ALPHA_BLEND = 0x20, ///< \~chinese Alpha混合 \~english Alpha blend
|
||||
CAMERA_DT_ANTI_ALIASING = 0x40, ///< \~chinese 抗锯齿 \~english Anti-aliasing
|
||||
} emCameraDrawTextFlags;
|
||||
|
||||
// GPIO模式
|
||||
typedef enum
|
||||
{
|
||||
IOMODE_TRIG_INPUT = 0, ///< \~chinese 触发输入 \~english Trigger input
|
||||
IOMODE_STROBE_OUTPUT = 1, ///< \~chinese 闪光灯输出 \~english Strobe output
|
||||
IOMODE_GP_INPUT = 2, ///< \~chinese 通用型输入 \~english Universal input
|
||||
IOMODE_GP_OUTPUT = 3, ///< \~chinese 通用型输出 \~english Universal output
|
||||
IOMODE_PWM_OUTPUT = 4, ///< \~chinese PWM型输出 \~english PWM output
|
||||
IOMODE_ROTARYENC_INPUT = 5, ///< \~chinese 编码器输入 \~english rotary input
|
||||
IOMODE_LINE_STROBE_OUTPUT=6 ///< \~chinese 行频闪灯 \~english Line strobe output
|
||||
} emCameraGPIOMode;
|
||||
|
||||
/// @ingroup MV_ENUM_TYPE
|
||||
/// \~chinese GPIO 格式
|
||||
/// \~english GPIO Format
|
||||
typedef enum
|
||||
{
|
||||
IOFORMAT_SINGLE = 0, ///< \~chinese 单端 \~english single ended
|
||||
IOFORMAT_RS422 = 1, ///< \~chinese 差分RS422 \~english Differential RS422
|
||||
IOFORMAT_RS422_TERM = 2, ///< \~chinese 差分RS422带终端电阻 \~english Differential RS422 and Termination Enable
|
||||
IOFORMAT_OCEP = 3, ///< \~chinese 光耦 \~english opticalcoupler equipment
|
||||
} emCameraGPIOFormat;
|
||||
|
||||
/// @ingroup MV_ENUM_TYPE
|
||||
/// \~chinese 取图优先级
|
||||
/// \~english Get Image priority
|
||||
typedef enum
|
||||
{
|
||||
CAMERA_GET_IMAGE_PRIORITY_OLDEST = 0, ///< \~chinese 获取缓存中最旧的一帧 \~english Get the oldest frame in the cache
|
||||
CAMERA_GET_IMAGE_PRIORITY_NEWEST = 1, ///< \~chinese 获取缓存中最新的一帧（比此帧旧的将全部丢弃） \~english Get the latest frame in the cache (older than this frame will be discarded)
|
||||
|
||||
/// \~chinese 丢弃缓存中的所有帧，并且如果此刻相机正在曝光或传输将会被立即打断，等待接收下一帧
|
||||
/// \note 某些型号的相机不支持此功能，对于不支持此功能的相机这个标志相当于@link #CAMERA_GET_IMAGE_PRIORITY_OLDEST @endlink
|
||||
/// \~english All frames in the cache are discarded, and if the camera is now being exposed or transmitted it will be immediately interrupted, waiting to receive the next frame
|
||||
/// \note Some models do not support this feature. For cameras that do not support this feature this flag is equivalent to @link #CAMERA_GET_IMAGE_PRIORITY_OLDEST @endlink
|
||||
CAMERA_GET_IMAGE_PRIORITY_NEXT = 2,
|
||||
} emCameraGetImagePriority;
|
||||
|
||||
/// @ingroup MV_ENUM_TYPE
|
||||
/// \~chinese 软触发功能标志
|
||||
/// \~english Soft trigger function flag
|
||||
typedef enum
|
||||
{
|
||||
CAMERA_ST_CLEAR_BUFFER_BEFORE = 0x1, ///< \~chinese 在软触发之前先清空相机已缓存的帧 \~english Empty camera-cached frames before soft triggering
|
||||
} emCameraSoftTriggerExFlags;
|
||||
|
||||
/// \~chinese 矩形
|
||||
/// \~english rect
|
||||
typedef struct
|
||||
{
|
||||
int iLeft, iTop;
|
||||
int iWidth, iHeight;
|
||||
} tSdkRect;
|
||||
|
||||
//相机的设备信息
|
||||
typedef struct
|
||||
{
|
||||
char acProductSeries[32]; // 产品系列
|
||||
char acProductName[32]; // 产品名称
|
||||
char acFriendlyName[32]; // 产品昵称，用户可自定义改昵称，保存在相机内，用于区分多个相机同时使用,可以用CameraSetFriendlyName接口改变该昵称，设备重启后生效。
|
||||
char acLinkName[32]; // 内核符号连接名，内部使用
|
||||
char acDriverVersion[32]; // 驱动版本
|
||||
char acSensorType[32]; // sensor类型
|
||||
char acPortType[32]; // 接口类型
|
||||
char acSn[32]; // 产品唯一序列号
|
||||
UINT uInstance; // 该型号相机在该电脑上的实例索引号，用于区分同型号多相机
|
||||
} tSdkCameraDevInfo;
|
||||
|
||||
#define EXT_TRIG_MASK_GRR_SHUTTER 1 ///< \~chinese 快门支持GRR模式 \~english Shutter supports GRR mode
|
||||
#define EXT_TRIG_MASK_LEVEL_MODE 2 ///< \~chinese 支持电平触发 \~english Support level trigger
|
||||
#define EXT_TRIG_MASK_DOUBLE_EDGE 4 ///< \~chinese 支持双边沿触发 \~english Supports bilateral triggering
|
||||
#define EXT_TRIG_MASK_BUFFERED_DELAY 8 ///< \~chinese 支持信号后延 \~english Supports signal delayed activation
|
||||
|
||||
//tSdkResolutionRange结构体中SKIP、 BIN、RESAMPLE模式的掩码值
|
||||
#define MASK_2X2_HD (1<<0) //硬件SKIP、BIN、重采样 2X2
|
||||
#define MASK_3X3_HD (1<<1)
|
||||
#define MASK_4X4_HD (1<<2)
|
||||
#define MASK_5X5_HD (1<<3)
|
||||
#define MASK_6X6_HD (1<<4)
|
||||
#define MASK_7X7_HD (1<<5)
|
||||
#define MASK_8X8_HD (1<<6)
|
||||
#define MASK_9X9_HD (1<<7)
|
||||
#define MASK_10X10_HD (1<<8)
|
||||
#define MASK_11X11_HD (1<<9)
|
||||
#define MASK_12X12_HD (1<<10)
|
||||
#define MASK_13X13_HD (1<<11)
|
||||
#define MASK_14X14_HD (1<<12)
|
||||
#define MASK_15X15_HD (1<<13)
|
||||
#define MASK_16X16_HD (1<<14)
|
||||
#define MASK_17X17_HD (1<<15)
|
||||
#define MASK_2X2_SW (1<<16) //硬件SKIP、BIN、重采样 2X2
|
||||
#define MASK_3X3_SW (1<<17)
|
||||
#define MASK_4X4_SW (1<<18)
|
||||
#define MASK_5X5_SW (1<<19)
|
||||
#define MASK_6X6_SW (1<<20)
|
||||
#define MASK_7X7_SW (1<<21)
|
||||
#define MASK_8X8_SW (1<<22)
|
||||
#define MASK_9X9_SW (1<<23)
|
||||
#define MASK_10X10_SW (1<<24)
|
||||
#define MASK_11X11_SW (1<<25)
|
||||
#define MASK_12X12_SW (1<<26)
|
||||
#define MASK_13X13_SW (1<<27)
|
||||
#define MASK_14X14_SW (1<<28)
|
||||
#define MASK_15X15_SW (1<<29)
|
||||
#define MASK_16X16_SW (1<<30)
|
||||
#define MASK_17X17_SW (1<<31)
|
||||
|
||||
//相机的分辨率设定范围，用于构件UI
|
||||
typedef struct
|
||||
{
|
||||
INT iHeightMax; //图像最大高度
|
||||
INT iHeightMin; //图像最小高度
|
||||
INT iWidthMax; //图像最大宽度
|
||||
INT iWidthMin; //图像最小宽度
|
||||
UINT uSkipModeMask; //SKIP模式掩码，为0，表示不支持SKIP 。bit0为1,表示支持SKIP 2x2 ;bit1为1，表示支持SKIP 3x3....
|
||||
UINT uBinSumModeMask; //BIN(求和)模式掩码，为0，表示不支持BIN 。bit0为1,表示支持BIN 2x2 ;bit1为1，表示支持BIN 3x3....
|
||||
UINT uBinAverageModeMask; //BIN(求均值)模式掩码，为0，表示不支持BIN 。bit0为1,表示支持BIN 2x2 ;bit1为1，表示支持BIN 3x3....
|
||||
UINT uResampleMask; //硬件重采样的掩码
|
||||
} tSdkResolutionRange;
|
||||
|
||||
|
||||
//相机的分辨率描述
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; // 索引号，[0,N]表示预设的分辨率(N 为预设分辨率的最大个数，一般不超过20),OXFF 表示自定义分辨率(ROI)
|
||||
char acDescription[32]; // 该分辨率的描述信息。仅预设分辨率时该信息有效。自定义分辨率可忽略该信息
|
||||
UINT uBinSumMode; // BIN(求和)的模式,范围不能超过tSdkResolutionRange中uBinSumModeMask
|
||||
UINT uBinAverageMode; // BIN(求均值)的模式,范围不能超过tSdkResolutionRange中uBinAverageModeMask
|
||||
UINT uSkipMode; // 是否SKIP的尺寸，为0表示禁止SKIP模式，范围不能超过tSdkResolutionRange中uSkipModeMask
|
||||
UINT uResampleMask; // 硬件重采样的掩码
|
||||
INT iHOffsetFOV; // 采集视场相对于Sensor最大视场左上角的垂直偏移
|
||||
INT iVOffsetFOV; // 采集视场相对于Sensor最大视场左上角的水平偏移
|
||||
INT iWidthFOV; // 采集视场的宽度
|
||||
INT iHeightFOV; // 采集视场的高度
|
||||
INT iWidth; // 相机最终输出的图像的宽度
|
||||
INT iHeight; // 相机最终输出的图像的高度
|
||||
INT iWidthZoomHd; // 硬件缩放的宽度,不需要进行此操作的分辨率，此变量设置为0.
|
||||
INT iHeightZoomHd; // 硬件缩放的高度,不需要进行此操作的分辨率，此变量设置为0.
|
||||
INT iWidthZoomSw; // 软件缩放的宽度,不需要进行此操作的分辨率，此变量设置为0.
|
||||
INT iHeightZoomSw; // 软件缩放的高度,不需要进行此操作的分辨率，此变量设置为0.
|
||||
} tSdkImageResolution;
|
||||
|
||||
//相机白平衡色温模式描述信息
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; // 模式索引号
|
||||
char acDescription[32]; // 描述信息
|
||||
} tSdkColorTemperatureDes;
|
||||
|
||||
//相机帧率描述信息
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; // 帧率索引号，一般0对应于低速模式，1对应于普通模式，2对应于高速模式
|
||||
char acDescription[32]; // 描述信息
|
||||
} tSdkFrameSpeed;
|
||||
|
||||
//相机曝光功能范围定义
|
||||
typedef struct
|
||||
{
|
||||
UINT uiTargetMin; //自动曝光亮度目标最小值
|
||||
UINT uiTargetMax; //自动曝光亮度目标最大值
|
||||
UINT uiAnalogGainMin; //模拟增益的最小值，单位为fAnalogGainStep中定义
|
||||
UINT uiAnalogGainMax; //模拟增益的最大值，单位为fAnalogGainStep中定义
|
||||
float fAnalogGainStep; //模拟增益每增加1，对应的增加的放大倍数。例如，uiAnalogGainMin一般为16，fAnalogGainStep一般为0.125，那么最小放大倍数就是16*0.125 = 2倍
|
||||
UINT uiExposeTimeMin; //手动模式下，曝光时间的最小值，单位:行。根据CameraGetExposureLineTime可以获得一行对应的时间(微秒),从而得到整帧的曝光时间
|
||||
UINT uiExposeTimeMax; //手动模式下，曝光时间的最大值，单位:行
|
||||
} tSdkExpose;
|
||||
|
||||
//触发模式描述
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; //模式索引号
|
||||
char acDescription[32]; //该模式的描述信息
|
||||
} tSdkTrigger;
|
||||
|
||||
//传输分包大小描述(主要是针对网络相机有效)
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; //分包大小索引号
|
||||
char acDescription[32]; //对应的描述信息
|
||||
UINT iPackSize;
|
||||
} tSdkPackLength;
|
||||
|
||||
//预设的LUT表描述
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; //编号
|
||||
char acDescription[32]; //描述信息
|
||||
} tSdkPresetLut;
|
||||
|
||||
//AE算法描述
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; //编号
|
||||
char acDescription[32]; //描述信息
|
||||
} tSdkAeAlgorithm;
|
||||
|
||||
//RAW转RGB算法描述
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; //编号
|
||||
char acDescription[32]; //描述信息
|
||||
} tSdkBayerDecodeAlgorithm;
|
||||
|
||||
|
||||
//帧率统计信息
|
||||
typedef struct
|
||||
{
|
||||
INT iTotal; //当前采集的总帧数（包括错误帧）
|
||||
INT iCapture; //当前采集的有效帧的数量
|
||||
INT iLost; //当前丢帧的数量
|
||||
} tSdkFrameStatistic;
|
||||
|
||||
//相机输出的图像数据格式
|
||||
typedef struct
|
||||
{
|
||||
INT iIndex; //格式种类编号
|
||||
char acDescription[32]; //描述信息
|
||||
UINT iMediaType; //对应的图像格式编码，如CAMERA_MEDIA_TYPE_BAYGR8，在本文件中有定义。
|
||||
} tSdkMediaType;
|
||||
|
||||
//伽马的设定范围
|
||||
typedef struct
|
||||
{
|
||||
INT iMin; //最小值
|
||||
INT iMax; //最大值
|
||||
} tGammaRange;
|
||||
|
||||
//对比度的设定范围
|
||||
typedef struct
|
||||
{
|
||||
INT iMin; //最小值
|
||||
INT iMax; //最大值
|
||||
} tContrastRange;
|
||||
|
||||
//RGB三通道数字增益的设定范围
|
||||
typedef struct
|
||||
{
|
||||
INT iRGainMin; //红色增益的最小值
|
||||
INT iRGainMax; //红色增益的最大值
|
||||
INT iGGainMin; //绿色增益的最小值
|
||||
INT iGGainMax; //绿色增益的最大值
|
||||
INT iBGainMin; //蓝色增益的最小值
|
||||
INT iBGainMax; //蓝色增益的最大值
|
||||
} tRgbGainRange;
|
||||
|
||||
//饱和度设定的范围
|
||||
typedef struct
|
||||
{
|
||||
INT iMin; //最小值
|
||||
INT iMax; //最大值
|
||||
} tSaturationRange;
|
||||
|
||||
//锐化的设定范围
|
||||
typedef struct
|
||||
{
|
||||
INT iMin; //最小值
|
||||
INT iMax; //最大值
|
||||
} tSharpnessRange;
|
||||
|
||||
//ISP模块的使能信息
|
||||
typedef struct
|
||||
{
|
||||
BOOL bMonoSensor; //表示该型号相机是否为黑白相机,如果是黑白相机，则颜色相关的功能都无法调节
|
||||
BOOL bWbOnce; //表示该型号相机是否支持手动白平衡功能
|
||||
BOOL bAutoWb; //表示该型号相机是否支持自动白平衡功能
|
||||
BOOL bAutoExposure; //表示该型号相机是否支持自动曝光功能
|
||||
BOOL bManualExposure; //表示该型号相机是否支持手动曝光功能
|
||||
BOOL bAntiFlick; //表示该型号相机是否支持抗频闪功能
|
||||
BOOL bDeviceIsp; //表示该型号相机是否支持硬件ISP功能
|
||||
BOOL bForceUseDeviceIsp;//bDeviceIsp和bForceUseDeviceIsp同时为TRUE时，表示强制只用硬件ISP，不可取消。
|
||||
BOOL bZoomHD; //相机硬件是否支持图像缩放输出(只能是缩小)。
|
||||
} tSdkIspCapacity;
|
||||
|
||||
/* 定义整合的设备描述信息，这些信息可以用于动态构建UI */
|
||||
typedef struct
|
||||
{
|
||||
|
||||
tSdkTrigger *pTriggerDesc; // 触发模式
|
||||
INT iTriggerDesc; // 触发模式的个数，即pTriggerDesc数组的大小
|
||||
|
||||
tSdkImageResolution *pImageSizeDesc;// 预设分辨率选择
|
||||
INT iImageSizeDesc; // 预设分辨率的个数，即pImageSizeDesc数组的大小
|
||||
|
||||
tSdkColorTemperatureDes *pClrTempDesc;// 预设色温模式，用于白平衡
|
||||
INT iClrTempDesc;
|
||||
|
||||
tSdkMediaType *pMediaTypeDesc; // 相机输出图像格式
|
||||
INT iMediaTypdeDesc; // 相机输出图像格式的种类个数，即pMediaTypeDesc数组的大小。
|
||||
|
||||
tSdkFrameSpeed *pFrameSpeedDesc; // 可调节帧速类型，对应界面上普通 高速 和超级三种速度设置
|
||||
INT iFrameSpeedDesc; // 可调节帧速类型的个数，即pFrameSpeedDesc数组的大小。
|
||||
|
||||
tSdkPackLength *pPackLenDesc; // 传输包长度，一般用于网络设备
|
||||
INT iPackLenDesc; // 可供选择的传输分包长度的个数，即pPackLenDesc数组的大小。
|
||||
|
||||
INT iOutputIoCounts; // 可编程输出IO的个数
|
||||
INT iInputIoCounts; // 可编程输入IO的个数
|
||||
|
||||
tSdkPresetLut *pPresetLutDesc; // 相机预设的LUT表
|
||||
INT iPresetLut; // 相机预设的LUT表的个数，即pPresetLutDesc数组的大小
|
||||
|
||||
INT iUserDataMaxLen; // 指示该相机中用于保存用户数据区的最大长度。为0表示无。
|
||||
BOOL bParamInDevice; // 指示该设备是否支持从设备中读写参数组。1为支持，0不支持。
|
||||
|
||||
tSdkAeAlgorithm *pAeAlmSwDesc; // 软件自动曝光算法描述
|
||||
int iAeAlmSwDesc; // 软件自动曝光算法个数
|
||||
|
||||
tSdkAeAlgorithm *pAeAlmHdDesc; // 硬件自动曝光算法描述，为NULL表示不支持硬件自动曝光
|
||||
int iAeAlmHdDesc; // 硬件自动曝光算法个数，为0表示不支持硬件自动曝光
|
||||
|
||||
tSdkBayerDecodeAlgorithm *pBayerDecAlmSwDesc; // 软件Bayer转换为RGB数据的算法描述
|
||||
int iBayerDecAlmSwDesc; // 软件Bayer转换为RGB数据的算法个数
|
||||
|
||||
tSdkBayerDecodeAlgorithm *pBayerDecAlmHdDesc; // 硬件Bayer转换为RGB数据的算法描述，为NULL表示不支持
|
||||
int iBayerDecAlmHdDesc; // 硬件Bayer转换为RGB数据的算法个数，为0表示不支持
|
||||
|
||||
/* 图像参数的调节范围定义,用于动态构建UI*/
|
||||
tSdkExpose sExposeDesc; // 曝光的范围值
|
||||
tSdkResolutionRange sResolutionRange; // 分辨率范围描述
|
||||
tRgbGainRange sRgbGainRange; // 图像数字增益范围描述
|
||||
tSaturationRange sSaturationRange; // 饱和度范围描述
|
||||
tGammaRange sGammaRange; // 伽马范围描述
|
||||
tContrastRange sContrastRange; // 对比度范围描述
|
||||
tSharpnessRange sSharpnessRange; // 锐化范围描述
|
||||
tSdkIspCapacity sIspCapacity; // ISP能力描述
|
||||
|
||||
|
||||
} tSdkCameraCapbility;
|
||||
|
||||
|
||||
//图像帧头信息
|
||||
typedef struct
|
||||
{
|
||||
UINT uiMediaType; // 图像格式,Image Format
|
||||
UINT uBytes; // 图像数据字节数,Total bytes
|
||||
INT iWidth; // 图像的宽度，调用图像处理函数后，该变量可能被动态修改，来指示处理后的图像尺寸
|
||||
INT iHeight; // 图像的高度，调用图像处理函数后，该变量可能被动态修改，来指示处理后的图像尺寸
|
||||
INT iWidthZoomSw; // 软件缩放的宽度,不需要进行软件裁剪的图像，此变量设置为0.
|
||||
INT iHeightZoomSw; // 软件缩放的高度,不需要进行软件裁剪的图像，此变量设置为0.
|
||||
BOOL bIsTrigger; // 指示是否为触发帧 is trigger
|
||||
UINT uiTimeStamp; // 该帧的采集时间，单位0.1毫秒
|
||||
UINT uiExpTime; // 当前图像的曝光值，单位为微秒us
|
||||
float fAnalogGain; // 当前图像的模拟增益倍数
|
||||
INT iGamma; // 该帧图像的伽马设定值，仅当LUT模式为动态参数生成时有效，其余模式下为-1
|
||||
INT iContrast; // 该帧图像的对比度设定值，仅当LUT模式为动态参数生成时有效，其余模式下为-1
|
||||
INT iSaturation; // 该帧图像的饱和度设定值，对于黑白相机无意义，为0
|
||||
float fRgain; // 该帧图像处理的红色数字增益倍数，对于黑白相机无意义，为1
|
||||
float fGgain; // 该帧图像处理的绿色数字增益倍数，对于黑白相机无意义，为1
|
||||
float fBgain; // 该帧图像处理的蓝色数字增益倍数，对于黑白相机无意义，为1
|
||||
} tSdkFrameHead;
|
||||
|
||||
//图像帧描述
|
||||
typedef struct sCameraFrame
|
||||
{
|
||||
tSdkFrameHead head; //帧头
|
||||
BYTE * pBuffer; //数据区
|
||||
} tSdkFrame;
|
||||
|
||||
/// \~chinese 帧事件
|
||||
/// \~english Frame Event
|
||||
typedef struct tSdkFrameEvent_
|
||||
{
|
||||
UINT uType; ///< \~chinese 事件类型(1:帧开始 2:帧结束) \~english Event type (1:frame start 2:frame end)
|
||||
UINT uStatus; ///< \~chinese 状态(0:成功 非0:错误) \~english Status (0:success, non-zero:error)
|
||||
UINT uFrameID; ///< \~chinese 帧ID \~english Frame ID
|
||||
UINT uWidth; ///< \~chinese 宽度 \~english Width
|
||||
UINT uHeight; ///< \~chinese 高度 \~english Height
|
||||
UINT uPixelFormat; ///< \~chinese 图像格式 \~english Image Format
|
||||
UINT TimeStampL; ///< \~chinese 时间戳低32位 \~english Lower 32 bits of timestamp
|
||||
UINT TimeStampH; ///< \~chinese 时间戳高32位 \~english High 32 bits of timestamp
|
||||
} tSdkFrameEvent;
|
||||
|
||||
//图像捕获的回调函数定义
|
||||
typedef void (*CAMERA_SNAP_PROC)(CameraHandle hCamera, BYTE *pFrameBuffer, tSdkFrameHead* pFrameHead, PVOID pContext);
|
||||
|
||||
//SDK生成的相机配置页面的消息回调函数定义
|
||||
typedef void (*CAMERA_PAGE_MSG_PROC)(CameraHandle hCamera, UINT MSG, UINT uParam, PVOID pContext);
|
||||
|
||||
/// @ingroup API_RECONNECT
|
||||
/// \~chinese 相机连接状态回调
|
||||
/// \param [in] hCamera 相机句柄
|
||||
/// \param [in] MSG 消息，0: 相机连接断开 1: 相机连接恢复
|
||||
/// \param [in] uParam 附加信息
|
||||
/// \param [in] pContext 用户数据
|
||||
/// \return 无
|
||||
/// \note USB相机uParam取值：
|
||||
/// \note 未定义
|
||||
/// \note 网口相机uParam取值：
|
||||
/// \note 当MSG=0时：未定义
|
||||
/// \note 当MSG=1时：
|
||||
/// \note 0：上次掉线原因，网络通讯失败
|
||||
/// \note 1：上次掉线原因，相机掉电
|
||||
/// \~english Camera connection status callback
|
||||
/// \param [in] hCamera Camera handle
|
||||
/// \param [in] MSG message, 0: Camera disconnected 1: Camera connection restored
|
||||
/// \param [in] uParam Additional Information
|
||||
/// \param [in] pContext user data
|
||||
/// \return None
|
||||
/// \note USB camera uParam value:
|
||||
/// \note Undefined
|
||||
/// \note network camera uParam value:
|
||||
/// \note When MSG=0: Undefined
|
||||
/// \note When MSG=1:
|
||||
/// \note 0: The last dropped reason, network communication failed
|
||||
/// \note 1: The last dropped reason, the camera lost power
|
||||
typedef void (*CAMERA_CONNECTION_STATUS_CALLBACK)(CameraHandle hCamera, UINT MSG, UINT uParam, PVOID pContext);
|
||||
|
||||
/// @ingroup API_ADVANCE
|
||||
/// \~chinese 帧事件回调函数定义
|
||||
/// \~english Callback function definition for frame event
|
||||
typedef void (*CAMERA_FRAME_EVENT_CALLBACK)(CameraHandle hCamera, tSdkFrameEvent* pEvent, PVOID pContext);
|
||||
|
||||
|
||||
//----------------------------IMAGE FORMAT DEFINE------------------------------------
|
||||
//----------------------------图像格式定义-------------------------------------------
|
||||
#define CAMERA_MEDIA_TYPE_MONO 0x01000000
|
||||
#define CAMERA_MEDIA_TYPE_RGB 0x02000000
|
||||
#define CAMERA_MEDIA_TYPE_COLOR 0x02000000
|
||||
#define CAMERA_MEDIA_TYPE_CUSTOM 0x80000000
|
||||
#define CAMERA_MEDIA_TYPE_COLOR_MASK 0xFF000000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY1BIT 0x00010000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY2BIT 0x00020000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY4BIT 0x00040000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY8BIT 0x00080000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY10BIT 0x000A0000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY12BIT 0x000C0000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY16BIT 0x00100000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY24BIT 0x00180000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY32BIT 0x00200000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY36BIT 0x00240000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY48BIT 0x00300000
|
||||
#define CAMERA_MEDIA_TYPE_OCCUPY64BIT 0x00400000
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_MASK 0x00FF0000
|
||||
#define CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_SHIFT 16
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_PIXEL_SIZE(type) (((type) & CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_MASK)>>CAMERA_MEDIA_TYPE_EFFECTIVE_PIXEL_SIZE_SHIFT)
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_ID_MASK 0x0000FFFF
|
||||
#define CAMERA_MEDIA_TYPE_COUNT 0x46
|
||||
|
||||
/*mono*/
|
||||
#define CAMERA_MEDIA_TYPE_MONO1P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY1BIT | 0x0037)
|
||||
#define CAMERA_MEDIA_TYPE_MONO2P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY2BIT | 0x0038)
|
||||
#define CAMERA_MEDIA_TYPE_MONO4P (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY4BIT | 0x0039)
|
||||
#define CAMERA_MEDIA_TYPE_MONO8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0001)
|
||||
#define CAMERA_MEDIA_TYPE_MONO8S (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0002)
|
||||
#define CAMERA_MEDIA_TYPE_MONO10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0003)
|
||||
#define CAMERA_MEDIA_TYPE_MONO10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0004)
|
||||
#define CAMERA_MEDIA_TYPE_MONO12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0005)
|
||||
#define CAMERA_MEDIA_TYPE_MONO12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0006)
|
||||
#define CAMERA_MEDIA_TYPE_MONO14 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0025)
|
||||
#define CAMERA_MEDIA_TYPE_MONO16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0007)
|
||||
|
||||
/*Bayer */
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0008)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0009)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x000A)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG8 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x000B)
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0026)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0027)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0028)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG10_MIPI (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0029)
|
||||
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000C)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000D)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000E)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG10 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x000F)
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0010)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0011)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0012)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG12 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0013)
|
||||
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0026)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0027)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0028)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG10_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0029)
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002A)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002B)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002C)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG12_PACKED (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x002D)
|
||||
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x002E)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x002F)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0030)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG16 (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0031)
|
||||
|
||||
/*RGB */
|
||||
#define CAMERA_MEDIA_TYPE_RGB8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0014)
|
||||
#define CAMERA_MEDIA_TYPE_BGR8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0015)
|
||||
#define CAMERA_MEDIA_TYPE_RGBA8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x0016)
|
||||
#define CAMERA_MEDIA_TYPE_BGRA8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x0017)
|
||||
#define CAMERA_MEDIA_TYPE_RGB10 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0018)
|
||||
#define CAMERA_MEDIA_TYPE_BGR10 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0019)
|
||||
#define CAMERA_MEDIA_TYPE_RGB12 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x001A)
|
||||
#define CAMERA_MEDIA_TYPE_BGR12 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x001B)
|
||||
#define CAMERA_MEDIA_TYPE_RGB16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0033)
|
||||
#define CAMERA_MEDIA_TYPE_BGR16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x004B)
|
||||
#define CAMERA_MEDIA_TYPE_RGBA16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY64BIT | 0x0064)
|
||||
#define CAMERA_MEDIA_TYPE_BGRA16 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY64BIT | 0x0051)
|
||||
#define CAMERA_MEDIA_TYPE_RGB10V1_PACKED (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x001C)
|
||||
#define CAMERA_MEDIA_TYPE_RGB10P32 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY32BIT | 0x001D)
|
||||
#define CAMERA_MEDIA_TYPE_RGB12V1_PACKED (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY36BIT | 0X0034)
|
||||
#define CAMERA_MEDIA_TYPE_RGB565P (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0035)
|
||||
#define CAMERA_MEDIA_TYPE_BGR565P (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0X0036)
|
||||
|
||||
/*YUV and YCbCr*/
|
||||
#define CAMERA_MEDIA_TYPE_YUV411_8_UYYVYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x001E)
|
||||
#define CAMERA_MEDIA_TYPE_YUV422_8_UYVY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x001F)
|
||||
#define CAMERA_MEDIA_TYPE_YUV422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0032)
|
||||
#define CAMERA_MEDIA_TYPE_YUV8_UYV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0020)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x003A)
|
||||
//CAMERA_MEDIA_TYPE_YCBCR422_8 : YYYYCbCrCbCr
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x003B)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0043)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x003C)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR601_8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x003D)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR601_422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x003E)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR601_422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0044)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR601_411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x003F)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR709_8_CBYCR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0040)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR709_422_8 (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0041)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR709_422_8_CBYCRY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY16BIT | 0x0045)
|
||||
#define CAMERA_MEDIA_TYPE_YCBCR709_411_8_CBYYCRYY (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0042)
|
||||
|
||||
/*RGB Planar */
|
||||
#define CAMERA_MEDIA_TYPE_RGB8_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x0021)
|
||||
#define CAMERA_MEDIA_TYPE_RGB10_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0022)
|
||||
#define CAMERA_MEDIA_TYPE_RGB12_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0023)
|
||||
#define CAMERA_MEDIA_TYPE_RGB16_PLANAR (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY48BIT | 0x0024)
|
||||
|
||||
|
||||
|
||||
/*MindVision 12bit packed bayer*/
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0060)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0061)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0062)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0063)
|
||||
|
||||
/*MindVision 12bit packed monochome*/
|
||||
#define CAMERA_MEDIA_TYPE_MONO12_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0064)
|
||||
#define CAMERA_MEDIA_TYPE_YUV420P_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0065)
|
||||
|
||||
/*planar YUV 4:2:0, 12bpp, 1 plane for Y and 1 plane for the UV components, which are interleaved (first byte V and the following byte U)*/
|
||||
#define CAMERA_MEDIA_TYPE_YUV_NV21_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x0066)
|
||||
|
||||
/* H264 H265 */
|
||||
#define CAMERA_MEDIA_TYPE_H264_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0067)
|
||||
#define CAMERA_MEDIA_TYPE_H265_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0068)
|
||||
|
||||
/* JPEG */
|
||||
#define CAMERA_MEDIA_TYPE_JPEG_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY8BIT | 0x0069)
|
||||
|
||||
/* CXP 12bit packed */
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR12_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x006A)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG12_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x006B)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB12_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x006C)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG12_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x006D)
|
||||
#define CAMERA_MEDIA_TYPE_MONO12_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x006E)
|
||||
|
||||
/* planar YUV 4:4:4, 24bpp, (1 Cr & Cb sample per 1x1 Y samples) */
|
||||
#define CAMERA_MEDIA_TYPE_YUV444P_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY24BIT | 0x006F)
|
||||
|
||||
/* CXP 10bit packed */
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR10_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0070)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG10_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0071)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB10_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0072)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG10_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0073)
|
||||
#define CAMERA_MEDIA_TYPE_MONO10_PACKED_CXP (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0074)
|
||||
|
||||
/* MV 10bit packed */
|
||||
#define CAMERA_MEDIA_TYPE_BAYGR10_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0075)
|
||||
#define CAMERA_MEDIA_TYPE_BAYRG10_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0076)
|
||||
#define CAMERA_MEDIA_TYPE_BAYGB10_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0077)
|
||||
#define CAMERA_MEDIA_TYPE_BAYBG10_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0078)
|
||||
#define CAMERA_MEDIA_TYPE_MONO10_PACKED_MV (CAMERA_MEDIA_TYPE_MONO | CAMERA_MEDIA_TYPE_OCCUPY10BIT | 0x0079)
|
||||
|
||||
/*planar YUV 4:2:0, 12bpp, 1 plane for Y and 1 plane for the UV components, which are interleaved (first byte U and the following byte V)*/
|
||||
#define CAMERA_MEDIA_TYPE_YUV_NV12_MV (CAMERA_MEDIA_TYPE_COLOR | CAMERA_MEDIA_TYPE_OCCUPY12BIT | 0x007A)
|
||||
|
||||
#endif
|
||||
119
camera_sdk/inc/CameraStatus.h
Normal file
119
camera_sdk/inc/CameraStatus.h
Normal file
@@ -0,0 +1,119 @@
|
||||
|
||||
#ifndef __CAMERA_STATUS_DEF__
|
||||
#define __CAMERA_STATUS_DEF__
|
||||
|
||||
typedef int CameraSdkStatus;
|
||||
|
||||
|
||||
/*<2A><><EFBFBD>õĺ<C3B5>*/
|
||||
#define SDK_SUCCESS(_FUC_) ((_FUC_) == CAMERA_STATUS_SUCCESS)
|
||||
|
||||
#define SDK_UNSUCCESS(_FUC_) ((_FUC_) != CAMERA_STATUS_SUCCESS)
|
||||
|
||||
#define SDK_UNSUCCESS_RETURN(_FUC_,RET) if((RET = (_FUC_)) != CAMERA_STATUS_SUCCESS)\
|
||||
{\
|
||||
return RET;\
|
||||
}
|
||||
|
||||
#define SDK_UNSUCCESS_BREAK(_FUC_) if((_FUC_) != CAMERA_STATUS_SUCCESS)\
|
||||
{\
|
||||
break;\
|
||||
}
|
||||
|
||||
|
||||
/* <20><><EFBFBD>ô<EFBFBD><C3B4><EFBFBD> */
|
||||
|
||||
#define CAMERA_STATUS_SUCCESS 0 // <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>
|
||||
#define CAMERA_STATUS_FAILED -1 // <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_INTERNAL_ERROR -2 // <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_UNKNOW -3 // δ֪<CEB4><D6AA><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_NOT_SUPPORTED -4 // <20><>֧<EFBFBD>ָù<D6B8><C3B9><EFBFBD>
|
||||
#define CAMERA_STATUS_NOT_INITIALIZED -5 // <20><>ʼ<EFBFBD><CABC>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_PARAMETER_INVALID -6 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч
|
||||
#define CAMERA_STATUS_PARAMETER_OUT_OF_BOUND -7 // <20><><EFBFBD><EFBFBD>Խ<EFBFBD><D4BD>
|
||||
#define CAMERA_STATUS_UNENABLED -8 // δʹ<CEB4><CAB9>
|
||||
#define CAMERA_STATUS_USER_CANCEL -9 // <20>û<EFBFBD><C3BB>ֶ<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD>roi<6F><69><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_PATH_NOT_FOUND -10 // ע<><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>Ӧ<EFBFBD><D3A6>·<EFBFBD><C2B7>
|
||||
#define CAMERA_STATUS_SIZE_DISMATCH -11 // <20><><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3>ȺͶ<C8BA><CDB6><EFBFBD><EFBFBD>ijߴ粻ƥ<E7B2BB><C6A5>
|
||||
#define CAMERA_STATUS_TIME_OUT -12 // <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_IO_ERROR -13 // Ӳ<><D3B2>IO<49><4F><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_COMM_ERROR -14 // ͨѶ<CDA8><D1B6><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_BUS_ERROR -15 // <20><><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>
|
||||
#define CAMERA_STATUS_NO_DEVICE_FOUND -16 // û<>з<EFBFBD><D0B7><EFBFBD><EFBFBD>豸
|
||||
#define CAMERA_STATUS_NO_LOGIC_DEVICE_FOUND -17 // δ<>ҵ<EFBFBD><D2B5><EFBFBD><DFBC>豸
|
||||
#define CAMERA_STATUS_DEVICE_IS_OPENED -18 // <20>豸<EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_DEVICE_IS_CLOSED -19 // <20>豸<EFBFBD>Ѿ<EFBFBD><D1BE>ر<EFBFBD>
|
||||
#define CAMERA_STATUS_DEVICE_VEDIO_CLOSED -20 // û<>д<EFBFBD><D0B4><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>صĺ<D8B5><C4BA><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶû<C6B5>д<D0B4><F2BFAAA3><EFBFBD><EFBFBD>ط<EFBFBD><D8B7>ظô<D8B8><C3B4><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_NO_MEMORY -21 // û<><C3BB><EFBFBD>㹻ϵͳ<CFB5>ڴ<EFBFBD>
|
||||
#define CAMERA_STATUS_FILE_CREATE_FAILED -22 // <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_FILE_INVALID -23 // <20>ļ<EFBFBD><C4BC><EFBFBD>ʽ<EFBFBD><CABD>Ч
|
||||
#define CAMERA_STATUS_WRITE_PROTECTED -24 // д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д
|
||||
#define CAMERA_STATUS_GRAB_FAILED -25 // <20><><EFBFBD>ݲɼ<DDB2>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_LOST_DATA -26 // <20><><EFBFBD>ݶ<EFBFBD>ʧ<EFBFBD><CAA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_EOF_ERROR -27 // δ<><CEB4><EFBFBD>յ<EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_BUSY -28 // <20><>æ(<28><>һ<EFBFBD>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD>)<29><><EFBFBD>˴β<CBB4><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܽ<EFBFBD><DCBD><EFBFBD>
|
||||
#define CAMERA_STATUS_WAIT -29 // <20><>Ҫ<EFBFBD>ȴ<EFBFBD>(<28><><EFBFBD>в<EFBFBD><D0B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٴγ<D9B4><CEB3><EFBFBD>trf
|
||||
#define CAMERA_STATUS_IN_PROCESS -30 // <20><><EFBFBD>ڽ<EFBFBD><DABD>У<EFBFBD><D0A3>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_IIC_ERROR -31 // IIC<49><43><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_SPI_ERROR -32 // SPI<50><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_USB_CONTROL_ERROR -33 // USB<53><42><EFBFBD>ƴ<EFBFBD><C6B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_USB_BULK_ERROR -34 // USB BULK<4C><4B><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_SOCKET_INIT_ERROR -35 // <20><><EFBFBD>紫<EFBFBD><E7B4AB><EFBFBD><EFBFBD><D7BC><EFBFBD>ʼ<EFBFBD><CABC>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_GIGE_FILTER_INIT_ERROR -36 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ں˹<DABA><CBB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>ʧ<EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ<EFBFBD><C8B7>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>°<EFBFBD>װ<EFBFBD><D7B0>
|
||||
#define CAMERA_STATUS_NET_SEND_ERROR -37 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݷ<EFBFBD><DDB7>ʹ<EFBFBD><CDB4><EFBFBD>
|
||||
#define CAMERA_STATUS_DEVICE_LOST -38 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧȥ<CAA7><C8A5><EFBFBD>ӣ<EFBFBD><D3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ⳬʱ
|
||||
#define CAMERA_STATUS_DATA_RECV_LESS -39 // <20><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_FUNCTION_LOAD_FAILED -40 // <20><><EFBFBD>ļ<EFBFBD><C4BC>м<EFBFBD><D0BC>س<EFBFBD><D8B3><EFBFBD>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_CRITICAL_FILE_LOST -41 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_SENSOR_ID_DISMATCH -42 // <20>̼<EFBFBD><CCBC>ͳ<EFBFBD><CDB3><EFBFBD><EFBFBD><EFBFBD>ƥ<EFBFBD>䣬ԭ<E4A3AC><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˴<EFBFBD><CBB4><EFBFBD><EFBFBD>Ĺ̼<C4B9><CCBC><EFBFBD>
|
||||
#define CAMERA_STATUS_OUT_OF_RANGE -43 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>Χ<EFBFBD><CEA7>
|
||||
#define CAMERA_STATUS_REGISTRY_ERROR -44 // <20><>װ<EFBFBD><D7B0><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>°<EFBFBD>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><F2A3ACBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>а<EFBFBD>װĿ¼Setup/Installer.exe
|
||||
#define CAMERA_STATUS_ACCESS_DENY -45 // <20><>ֹ<EFBFBD><D6B9><EFBFBD>ʡ<EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD><D5BC>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʸ<EFBFBD><CAB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>᷵<EFBFBD>ظ<EFBFBD>״̬<D7B4><CCAC>(һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܱ<EFBFBD><DCB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>)
|
||||
#define CAMERA_STATUS_CAMERA_NEED_RESET -46 // <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ<CFB5><EFBFBD><F3A3ACB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>á<EFBFBD>
|
||||
#define CAMERA_STATUS_ISP_MOUDLE_NOT_INITIALIZED -47 // ISPģ<50><C4A3>δ<EFBFBD><CEB4>ʼ<EFBFBD><CABC>
|
||||
#define CAMERA_STATUS_ISP_DATA_CRC_ERROR -48 // <20><><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_MV_TEST_FAILED -49 // <20><><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD>ʧ<EFBFBD><CAA7>
|
||||
#define CAMERA_STATUS_INTERNAL_ERR1 -50 // <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>1
|
||||
#define CAMERA_STATUS_U3V_NO_CONTROL_EP -51 // U3V<33><56><EFBFBD>ƶ˵<C6B6>δ<EFBFBD>ҵ<EFBFBD>
|
||||
#define CAMERA_STATUS_U3V_CONTROL_ERROR -52 // U3V<33><56><EFBFBD><EFBFBD>ͨѶ<CDA8><D1B6><EFBFBD><EFBFBD>
|
||||
#define CAMERA_STATUS_INVALID_FRIENDLY_NAME -53 ///< \~chinese <20><>Ч<EFBFBD><D0A7><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ﲻ<EFBFBD>ܰ<EFBFBD><DCB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>(\/:*?"<>|") \~english Invalid device name, the name cannot contain the following characters (\/:*?"<>|")
|
||||
#define CAMERA_STATUS_FORMAT_ERROR -54 ///< \~chinese <20><>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD> \~english Format error
|
||||
#define CAMERA_STATUS_PCIE_OPEN_ERROR -55 ///< \~chinese PCIE<49>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7> \~english PCIE device open failed
|
||||
#define CAMERA_STATUS_PCIE_COMM_ERROR -56 ///< \~chinese PCIE<49>豸ͨѶʧ<D1B6><CAA7> \~english PCIE device communication failed
|
||||
#define CAMERA_STATUS_PCIE_DDR_ERROR -57 ///< \~chinese PCIE DDR<44><52><EFBFBD><EFBFBD> \~english PCIE DDR error
|
||||
#define CAMERA_STATUS_IP_ERROR -58 ///< \~chinese IP<49><50><EFBFBD><EFBFBD> \~english IP error
|
||||
|
||||
|
||||
|
||||
|
||||
//<2F><>AIA<49>ƶ<EFBFBD><C6B6>ı<EFBFBD><EFBFBD><D7BC>ͬ
|
||||
/*#define CAMERA_AIA_SUCCESS 0x0000 */
|
||||
#define CAMERA_AIA_PACKET_RESEND 0x0100 //<2F><>֡<EFBFBD><D6A1>Ҫ<EFBFBD>ش<EFBFBD>
|
||||
#define CAMERA_AIA_NOT_IMPLEMENTED 0x8001 //<2F>豸<EFBFBD><E8B1B8>֧<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_AIA_INVALID_PARAMETER 0x8002 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>
|
||||
#define CAMERA_AIA_INVALID_ADDRESS 0x8003 //<2F><><EFBFBD>ɷ<EFBFBD><C9B7>ʵĵ<CAB5>ַ
|
||||
#define CAMERA_AIA_WRITE_PROTECT 0x8004 //<2F><><EFBFBD>ʵĶ<CAB5><C4B6><EFBFBD>д
|
||||
#define CAMERA_AIA_BAD_ALIGNMENT 0x8005 //<2F><><EFBFBD>ʵĵ<CAB5>ַû<D6B7>а<EFBFBD><D0B0><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_AIA_ACCESS_DENIED 0x8006 //û<>з<EFBFBD><D0B7><EFBFBD>Ȩ<EFBFBD><C8A8>
|
||||
#define CAMERA_AIA_BUSY 0x8007 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_AIA_DEPRECATED 0x8008 //0x8008-0x0800B 0x800F <20><>ָ<EFBFBD><D6B8><EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_AIA_PACKET_UNAVAILABLE 0x800C //<2F><><EFBFBD><EFBFBD>Ч
|
||||
#define CAMERA_AIA_DATA_OVERRUN 0x800D //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݱ<EFBFBD><DDB1><EFBFBD>Ҫ<EFBFBD>Ķ<EFBFBD>
|
||||
#define CAMERA_AIA_INVALID_HEADER 0x800E //<2F><><EFBFBD>ݰ<EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>ijЩ<C4B3><D0A9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Э<EFBFBD>鲻ƥ<E9B2BB><C6A5>
|
||||
#define CAMERA_AIA_PACKET_NOT_YET_AVAILABLE 0x8010 //ͼ<><CDBC><EFBFBD>ְ<EFBFBD><D6B0><EFBFBD><EFBFBD>ݻ<EFBFBD>δ<CEB4><D7BC><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><DAB4><EFBFBD>ģʽ<C4A3><CABD>Ӧ<EFBFBD>ó<EFBFBD><C3B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʳ<EFBFBD>ʱ
|
||||
#define CAMERA_AIA_PACKET_AND_PREV_REMOVED_FROM_MEMORY 0x8011 //<2F><>Ҫ<EFBFBD><D2AA><EFBFBD>ʵķְ<C4B7><D6B0>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڡ<EFBFBD><DAA1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_AIA_PACKET_REMOVED_FROM_MEMORY 0x8012 //CAMERA_AIA_PACKET_AND_PREV_REMOVED_FROM_MEMORY
|
||||
#define CAMERA_AIA_NO_REF_TIME 0x0813 //û<>вο<D0B2>ʱ<EFBFBD><CAB1>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4>ʱ
|
||||
#define CAMERA_AIA_PACKET_TEMPORARILY_UNAVAILABLE 0x0814 //<2F><><EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⣬<EFBFBD><E2A3AC>ǰ<EFBFBD>ְ<EFBFBD><D6B0><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD>Ժ<EFBFBD><D4BA><EFBFBD><EFBFBD>з<EFBFBD><D0B7><EFBFBD>
|
||||
#define CAMERA_AIA_OVERFLOW 0x0815 //<2F>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
#define CAMERA_AIA_ACTION_LATE 0x0816 //<2F><><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4><EFBFBD>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ָ<EFBFBD><D6B8>ʱ<EFBFBD><CAB1>
|
||||
#define CAMERA_AIA_ERROR 0x8FFF //<2F><><EFBFBD><EFBFBD>
|
||||
|
||||
// <20>Զ<EFBFBD><D4B6><EFBFBD>
|
||||
#define CAMERA_MV_SSR_COMM_ERROR 0xF000 ///< \~chinese SSRͨѶ<CDA8><D1B6><EFBFBD><EFBFBD> \~english SSR communication error
|
||||
#define CAMERA_MV_SSR_TRAIN_ERROR 0xF001 ///< \~chinese SSRѵ<52><D1B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD> \~english SSR training error
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
BIN
camera_sdk/lib/linux/arm64/libMVSDK.so
Normal file
BIN
camera_sdk/lib/linux/arm64/libMVSDK.so
Normal file
Binary file not shown.
BIN
camera_sdk/lib/linux/x64/libMVSDK.so
Normal file
BIN
camera_sdk/lib/linux/x64/libMVSDK.so
Normal file
Binary file not shown.
310
docs/IMU/command.md
Normal file
310
docs/IMU/command.md
Normal file
@@ -0,0 +1,310 @@
|
||||
# FDILink指令配置示例
|
||||
|
||||
## 进入配置模式
|
||||
|
||||
```uart
|
||||
#fconfig\r\n
|
||||
```
|
||||
|
||||
## 滤波器开关配置示例——将3D磁力计的融合开关打开
|
||||
|
||||
```uart
|
||||
#fconfig\r\n // 1. 进入配置模式
|
||||
#fparam get AID_MAG_V_MAGNETIC\r\n // 2. 获取当前滤波器状态
|
||||
#fparam set AID_MAG_V_MAGNETIC 1\r\n // 3. 设置3D磁辅助为打开状态
|
||||
#fsave\r\n // 4. 保存设置
|
||||
#freboot\r\n // 5. 重启设备
|
||||
```
|
||||
|
||||
## 将COM2 改成NMEA(OUT) 协议
|
||||
|
||||
```uart
|
||||
#fparam get AID_GNSS_VEL_UPDATE\r\n
|
||||
#fparam get MAG_GEOMAGFIELD_B\r\n
|
||||
#fconfig\r\n
|
||||
#fdeconfig\r\n
|
||||
#fsave\r\n
|
||||
#freboot\r\n
|
||||
y\r\n
|
||||
#fconfig\r\n
|
||||
```
|
||||
|
||||
## 设置端口1的类型为MAIN
|
||||
|
||||
```uart
|
||||
#fparam set COMM_STREAM_TYP1 1\r\n
|
||||
```
|
||||
|
||||
## 设置端口4的类型为NONE
|
||||
|
||||
```uart
|
||||
#fparam set COMM_STREAM_TYP4 0\r\n
|
||||
```
|
||||
|
||||
## 波特率修改配置
|
||||
|
||||
```uart
|
||||
#fimucal_gyro\r\n
|
||||
#fmagcal3d\r\n
|
||||
#faxis\r\n
|
||||
#fmsg 40 100\r\n
|
||||
#fmsg\r\n
|
||||
#fante\r\n
|
||||
```
|
||||
|
||||
```c
|
||||
Stream_TxBlock(stream, "UNLOG\r\n", strlen("UNLOG\r\n"));
|
||||
// Stream_TxBlock(stream, "GPGGA 1\r\n", strlen("GPGGA 1\r\n")); //增加NMEA解析数据会有2-3s延迟 字符形式解析慢
|
||||
Stream_TxBlock(stream, "AGRICB 0.1\r\n", strlen("AGRICB 0.1\r\n"));
|
||||
Stream_TxBlock(stream, "LOG PSRDOPB ONCHANGED\r\n", strlen("LOG PSRDOPB ONCHANGED\r\n"));
|
||||
Stream_TxBlock(stream, "LOG PSRVELB ONTIME 0.1\r\n", strlen("LOG PSRVELB ONTIME 0.1\r\n"));
|
||||
// Stream_TxBlock(stream, "LOG PSRPOSB ONTIME 0.1\r\n", strlen("LOG PSRPOSB ONTIME 0.1\r\n"));
|
||||
Stream_TxBlock(stream, "LOG HEADINGB ONTIME 0.1\r\n", strlen("LOG HEADINGB ONTIME 0.1\r\n"));
|
||||
// Stream_TxBlock(stream, "LOG BESTXYZB ONTIME 0.1\r\n", strlen("LOG BESTXYZB ONTIME 0.1\r\n"));
|
||||
```
|
||||
|
||||
## fconfig指令
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fconfig** |
|
||||
| 说明 | 使导航设备由导航模式进入配置模式，配置模式下设备不再进行导航也不输出数据。所有配置命令仅在配置模式下有效。配置完成后请保存，否则已配置项不会保存和生效 |
|
||||
| 格式 | `#fconfig<CR><LF>` |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 否 |
|
||||
| 示例 | 输入：`#fconfig` — 导航设备停止输出导航结果，并输出: `#OK` |
|
||||
|
||||
## fdeconfig指令
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fdeconfig** |
|
||||
| 说明 | 使导航设备由配置模式恢复导航模式 |
|
||||
| 格式1 | `#fdeconfig<CR><LF>` |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 否 |
|
||||
| 示例 | 输入：`#fdeconfig` — 导航设备重新输出导航数据 |
|
||||
| 回复 | `*#OK` — 成功进入导航模式 |
|
||||
|
||||
## freboot
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#freboot** |
|
||||
| 说明 | 重新热启动设备 |
|
||||
| 格式 | `#freboot` |
|
||||
| 需要确认 | 是 |
|
||||
| 重启生效 | 否 |
|
||||
| 示例 | 输入`#freboot`，设备重新热启动 |
|
||||
| 备注 | 重新启动时所有未保存的设置将不会保存，也不会生效。重新启动命令不会重启 gnss 模组 |
|
||||
|
||||
## freset
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#freset** |
|
||||
| 说明 | 将配置恢复到出厂初始值，恢复出厂配置后用户配置将全部清除，固件版本保持不变 |
|
||||
| 格式 | `#freset` |
|
||||
| 需要确认 | 是 |
|
||||
| 重启生效 | 否 |
|
||||
| 示例 | `#freset` |
|
||||
| 备注 | 通过上位机的参数导出按钮可以将重置之前的用户配置保存下来 |
|
||||
|
||||
## fsave
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fsave** |
|
||||
| 说明 | 配置保存 |
|
||||
| 格式 | `#fsave` |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 否 |
|
||||
| 示例 | `#fsave` |
|
||||
| 备注 | 几乎所有的配置更改后都需要执行配置保存操作，这样重启后才能保证配置生效 |
|
||||
|
||||
## fante
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fante** |
|
||||
| 说明 | 配置双天线航向与载体前向夹角 |
|
||||
| 格式1 | `#fante<CR><LF>` — 查询GNSS天线配置信息：双天线航向偏角、双天线基线长度、天线杆臂 |
|
||||
| 格式2 | `#fanteheadbias angle<CR><LF>` — 其中 angle 为角度值，值域在 0 至 360°间 |
|
||||
| 格式3 | `#fantebaseline length<CR><LF>` — 配置双天线之间基线的长度，length单位为米m |
|
||||
| 格式4 | `#fantearm x y z<CR><LF>` — 配置GNSS主天线到IMU的杆臂命令 |
|
||||
| 示例 | 将双天线航向与载体前向夹角设置为 270 度：<br>输入：`#fanteheadbias 270.0`<br>输出：`*#OK` |
|
||||
| 备注 | 定义：主天线到从天线为基线矢量正方向，从IMU正上方看去，顺时针为天线航向偏角的正方向 |
|
||||
|
||||
## fimucal
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fimucal** |
|
||||
| 说明 | 校准陀螺仪、加表的常值零偏以及调平 |
|
||||
| 格式1 | `#fimucal_level<CR><LF>` — 将IMU坐标系调平至水平面，不改变陀螺和加表零偏 |
|
||||
| 格式2 | `#fimucal_acce<CR><LF>` — 执行加速度计零偏校准 |
|
||||
| 格式3 | `#fimucal_gyro<CR><LF>` — 执行陀螺仪零偏校准 |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 是 |
|
||||
| 示例 | 输入`#fimucal_level`，IMU调平校准 |
|
||||
| 备注 | **注意！** 格式1和格式2需要在水平静止状态下执行该命令；格式3只需要模块保持静止 |
|
||||
|
||||
## fmsg
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fmsg** |
|
||||
| 说明 | 配置发送的数据内容 |
|
||||
| 格式1 | `#fmsg` — 查询当前数据包信息。显示内容包括所有支持的数据包以及数据包ID以及其发送频率 |
|
||||
| 格式2 | `#fmsg msg freq` — msg为2位十六进制数字，表示数据包ID；freq为设置指定数据包的发送频率 |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 是 |
|
||||
| 示例 | 输入：`#fmsg 40 100`，表示IMU数据以100Hz的频率发送<br>输出：`IMU [40] 100.0Hz`，表示IMU数据已经设置为100Hz的发送频率 |
|
||||
|
||||
## fparam
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fparam** |
|
||||
| 说明 | 读取或配置参数 |
|
||||
| 格式1 | `#fparam get paramName` — paramName 需要获取的参数名称 |
|
||||
| 格式2 | `#fparam set paramName paramValue` — paramName需要设置的参数名称；paramValue参数的数值，十进制 |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 是 |
|
||||
| **配置说明1：串口波特率配置** | paramName的值和paramValue的值见表1 (DETA系列) 和表2 (EPSILON系列)，默认配置中COMM_BAUD1 (端口1) 的波特率被设置为921600bps |
|
||||
| **示例1** | 输入：`#fparam get COMM_BAUD2\r\n`<br>输出：`COMM_BAUD2=5`，表示现在端口2为 115200bps<br>输入：`#fparam set COMM_BAUD2 8\r\n`<br>输出：`*#OK`，表示成功将端口2改为921600bps |
|
||||
| **备注1** | 默认端口1配置为Main协议，若端口1配置为其它波特率，则保存重启后波特率也需要重新选择，同时**强烈不建议**将Main协议端口的波特率设置在115200bps以下 |
|
||||
| **配置说明2：滤波开关配置** | 除了在上位机配置滤波器开关外，用户同样可以使用串口指令进行配置：paramName的值可见表3，相应的paramValue为0或者1；0表示关闭，1表示打开 |
|
||||
| **示例2** | 输入：`#fparam get AID_MAG_2D_MAGNETIC\r\n`<br>输出：`AID_MAG_2D_MAGNETIC=1`，表示磁力计2D辅助开关是打开的<br>输入：`#fparam set AID_MAG_2D_MAGNETIC 0\r\n`<br>输出：`*#OK`，表示不使用磁力计进行融合 |
|
||||
| **备注2** | 滤波开关的配置最好在测试前进行，测试中对滤波开关进行配置可能会破坏滤波器的稳定，容易导致位姿的突变与发散 |
|
||||
| **配置说明3：传感器参数修改** | 用户可以使用串口指令查看或者修改位于上位机 Onboard Parameters里的所有传感器参数，包含imu参数、GNSS参数、DEBUG参数等等 |
|
||||
| **示例3** | 输入：`#fparam get IMU_ACC_AVG\r\n`<br>输出：`IMU_ACC_AVG=9.794700`，表示当地重力加速度计为9.794700m/s²<br>输入：`#fparam get GNSS_MIN_VACC\r\n`<br>输出：`GNSS_MIN_VACC=2.500000`，表示当GNSS垂直方向的精度小于2.5m这个阈值时，才会使用GNSS进行组合导航<br>输入：`#fparam set GNSS_MIN_VACC 0.1\r\n`<br>输出：`*#OK`，表示成功将GNSS垂直方向的阈值设置为0.1m，这在客户使用RTK高精度组合导航时是有用的，可以防止在GNSS信号变差时对系统造成一定的负面影响 |
|
||||
| **备注3** | 传感器参数的修改一般只用于FDISYSTEMS研发人员的调试阶段，除非用户对该领域很熟悉，否则不建议自行修改 |
|
||||
| **配置说明4：端口协议配置** | 端口协议除了在上位机配置外，还能使用串口指令进行配置，端口协议见表4，常用的端口协议为Main、NAV、RTCM、NMEA和Ublox |
|
||||
| **示例4** | 输入：`#fparam get COMM_STREAM_TYP1\r\n`<br>输出：`COMM_STREAM_TYP1=1`，表示端口1配置为Main协议<br>输入：`#fparam set COMM_STREAM_TYP2 2\r\n`<br>输出：`*#OK`，表示将端口2配置为NAV协议，即可以通过端口2获取FDILink协议的数据；此时用户通过端口1或端口2均能获取数据，此外端口1还能连接上位机，便于实时调试<br>输入：`#fparam set COMM_STREAM_TYP3 6\r\n`<br>输出：`*#OK`，表示将端口3配置为Ublox模式，如果端口3有接收到Ublox类型的数据，保存重启后即可实现GPS/INS组合导航 |
|
||||
| **备注4** | 上述所有配置内容都需要`#fsave`保存，否则重新上电后失效；<br>此外所有端口中必须有一个配置为Main协议，只有该端口可以连接上位机 |
|
||||
|
||||
## fmagcal2d
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fmagcal2d** |
|
||||
| 说明 | 磁力计2d校准指令，输入完成后用户在平面上沿模块中心缓慢旋转一周后完成校准，完成后自动保存校准数据并退出当前的配置模式 |
|
||||
| 格式1 | `#fmagcal2d` |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 是 |
|
||||
| 示例 | 输入：`#fmagcal2d\r\n`<br>输出：`*#OK`，表示可以开始进行2d校准<br>输出：`This is a magnetometer 2D calibration. Please wait until the magnetometer progress bar reaches 100 percent Now: 0 percent`<br>表示2D校准的实时进度，刷新频率为1HZ。当进度到达100 percent表示校准成功系统将立即退出当前配置模式，重新发送FDILink数据 |
|
||||
|
||||
## fmagcal3d — 3D磁校准指令
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fmagcal3d** |
|
||||
| 说明 | 磁力计3d校准指令，输入完成后用户在空中缓慢画8字进行校准，完成后自动保存校准数据退出当前的配置模式 |
|
||||
| 格式1 | `#fmagcal3d` |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 是 |
|
||||
| 示例 | 输入：`#fmagcal3d\r\n`<br>输出：`*#OK`，表示可以开始进行3d校准<br>输出：<br>`This is a magnetometer 3D calibration.`<br>`The fitting error of the current calculation: xxx`<br>`Calibration Algorithm: xxx`<br>表示3D校准的实时状态，刷新频率为1HZ。"The fitting error of the current calculation : xxx"表示当前计算的拟合误差，参数类型为单精度浮点数类型。"Calibration Algorithm: xxx"表示的是校准算法等级，参数等级分为Low, Mid, High三种。当计算的拟合误差小于3.000f，并算法等级等于High时表示校准成功系统将立即退出当前配置模式，即重新发送FDILink数据 |
|
||||
|
||||
## fdgnss
|
||||
|
||||
| 属性 | 内容 |
|
||||
|:---|:---|
|
||||
| **命令** | **#fdgnss** |
|
||||
| 说明 | 读取或配置上位机DGNSS栏参数 |
|
||||
| 格式1 | `#fdgnss get gnssName`<br>gnssName 需要获取的参数名称，包含：<br>• `RTCM_TYPE` — 发送或接收RTCM的方式<br>• `NET_INFO_IMEI` — SIM卡的IMEI信息（无法配置）<br>• `NET_INFO_CCID` — SIM卡的CCID信息（无法配置）<br>• `NTRIP_SVR_DOMAIN` — Ntrip的IP地址<br>• `NTRIP_SVR_PORT` — Ntrip的IP端口<br>• `NTRIP_MOUNT` — Ntrip的挂载点<br>• `NTRIP_ACCOUNT` — Ntrip账号<br>• `NTRIP_PASSWORD` — Ntrip密码<br>• `FDI_AUTH` — FDI云鉴权码 |
|
||||
| 格式2 | `#fdgnss set gnssName gnssValue`<br>gnssName 需要设置的参数名称<br>gnssValue 参数的数值，十进制<br><br>**RTCM_TYPE参数特殊定义：**<br>• 0 — Radio<br>• 1 — 千寻位置SDK<br>• 2 — Ntrip配置<br>• 3 — FDI云<br><br>其余gnssValue无特殊定义 |
|
||||
| 需要确认 | 否 |
|
||||
| 重启生效 | 是 |
|
||||
| 示例1 | 输入：`#fdgnss get NTRIP_SVR_PORT\r\n`<br>输出：`NTRIP_SVR_PORT：8002`，表示Ntrip的IP端口为8002 |
|
||||
| 示例2 | **完整配置NTRIP账号过程：**<br>1. 输入：`#fdgnss set RTCM_TYPE 3\r\n` → 输出：`*#OK`（切换为NTRIP配置）<br>2. 输入：`#fdgnss set NTRIP_SVR_DOMAIN xxx.xxx.xx.xxx\r\n` → 输出：`*#OK`（IP配置成功）<br>3. 输入：`#fdgnss set NTRIP_SVR_PORT 8002\r\n` → 输出：`*#OK`（端口配置为8002）<br>4. 输入：`#fdgnss set NTRIP_MOUNT RTCM32_GGB\r\n` → 输出：`*#OK`（挂载点配置为RTCM32_GGB）<br>5. 输入：`#fdgnss set NTRIP_ACCOUNT qxx1234\r\n` → 输出：`*#OK`（账号配置为qxx1234）<br>6. 输入：`#fdgnss set NTRIP_PASSWORD 12345678\r\n` → 输出：`*#OK`（密码配置为12345678） |
|
||||
| 备注 | 上述所有配置内容都需要`#fsave`保存，否则重新上电后失效 |
|
||||
|
||||
## 附录表格
|
||||
|
||||
### 表1：DETA 系列v2端口波特率配置说明
|
||||
|
||||
| paramName | 端口说明 | paramValue | 对应波特率 |
|
||||
|:---|:---|:---:|:---|
|
||||
| COMM_BAUD1 | UART, TTL电平, 设置范围9600bps-921600bps | 1 | 9600bps |
|
||||
| | | 2 | 19200bps |
|
||||
| | | 3 | 38400bps |
|
||||
| COMM_BAUD2 | UART, TTL电平, 设置范围9600bps-921600bps | 4 | 76800bps |
|
||||
| | | 5 | 115200bps |
|
||||
| | | 6 | 230400bps |
|
||||
| COMM_BAUD3 | UART, TTL电平, 设置范围9600bps-921600bps | 7 | 460800bps |
|
||||
| | | 8 | 921600bps |
|
||||
| | | 9 | 2625000bps |
|
||||
| COMM_BAUD4 | UART, TTL电平, 设置范围9600bps-921600bps | 10 | 5250000bps |
|
||||
| | | 11 | 10500000bps |
|
||||
| | | 12 | 100000bps |
|
||||
| COMM_BAUD5 | CAN, 可设置波特率为250000bps、500000bps、1000000bps | 13 | 250000bps |
|
||||
| | | 14 | 500000bps |
|
||||
| | | 15 | 1000000bps |
|
||||
|
||||
### 表2：EPSILON系列端口波特率配置说明
|
||||
|
||||
| paramName | 端口说明 | paramValue | 对应波特率 |
|
||||
|:---|:---|:---:|:---|
|
||||
| COMM_BAUD1 | RS232，设置范围9600bps-921600bps | 1 | 9600bps |
|
||||
| | | 2 | 19200bps |
|
||||
| | | 3 | 38400bps |
|
||||
| COMM_BAUD2 | RS232，设置范围9600bps-921600bps | 4 | 76800bps |
|
||||
| | | 5 | 115200bps |
|
||||
| | | 6 | 230400bps |
|
||||
| COMM_BAUD3 | RS422，设置范围9600bps-921600bps | 7 | 460800bps |
|
||||
| | | 8 | 921600bps |
|
||||
| | | 9 | 2625000bps |
|
||||
| COMM_BAUD4 | GPIO TTL，设置范围9600bps-921600bps | 10 | 5250000bps |
|
||||
| | | 11 | 10500000bps |
|
||||
| | | 12 | 100000bps |
|
||||
| COMM_BAUD5 | CAN，可设置波特率为250000bps、500000bps、1000000bps | 13 | 250000bps |
|
||||
| | | 14 | 500000bps |
|
||||
| | | 15 | 1000000bps |
|
||||
|
||||
### 表3：SPKF融合开关说明
|
||||
|
||||
| paramName | 说明 |
|
||||
|:---|:---|
|
||||
| AID_ACCEL_GRAVITY | 加速度计融合开关 |
|
||||
| AID_BRO_ALT_UPDATE | 气压计融合开关 |
|
||||
| AID_CAR_CENT_ACCEL_NHC_ENABLED | 汽车向心加速度补偿开关 |
|
||||
| AID_CAR_YZ_ZERO_VEL_NHC_ENABLED | 汽车零速更新开关 |
|
||||
| AID_EXT_HEADING_UPDATE | 外部航向输入开关 |
|
||||
| AID_GNSS_POS_UPDATE | GNSS 位置融合开关 |
|
||||
| AID_GNSS_TRACK_HEADING_UPDATE | GNSS 航迹角融合开关 |
|
||||
| AID_GNSS_VEL_UPDATE | GNSS 速度融合开关 |
|
||||
| AID_GYO_TURN_ON_TARE_ENABLED | 开机时静态陀螺零偏估计开关 |
|
||||
| AID_INIT_YAW_USE_MAG | 磁力计初始化航向角开关 |
|
||||
| AID_MAG_2D_MAGNETIC | 磁航向融合开关 |
|
||||
| AID_MAG_3D_MAGNETIC | 磁矢量融合开关 |
|
||||
| AID_ODOMETER_VEL_UPDATE | 里程计融合开关 |
|
||||
| AID_OPTICFLOW_UPDATE | 光流计融合开关 |
|
||||
| AID_ZERO_POS_UPDATE | 零位置更新开关 |
|
||||
| AID_ZERO_RATE_UPDATE | 零角速度更新开关 |
|
||||
| AID_ZERO_VEL_UPDATE | 零速度更新 |
|
||||
|
||||
### 表4：端口协议类型与说明
|
||||
|
||||
| paramName | 端口协议 | 说明 | paramValue |
|
||||
|:---|:---|:---|:---:|
|
||||
| **COMM_STREAM_TYP(1-5)** | **None** | 空 | 0 |
|
||||
| | **Main** | 主协议，导航数据收发和连接上位机，通过0xF0切换模式 | 1 |
|
||||
| | **NAV** | 导航模式，收发 | 2 |
|
||||
| | **RTCM** | 接收差分修正数据v3版，D3 00开头 | 3 |
|
||||
| | **NMEA** | 接收NMEA格式数据 | 4 |
|
||||
| | **NMEA(OUT)** | 导航输出NMEA格式数据 | 5 |
|
||||
| | **Ublox** | 接收UBX格式数据 | 6 |
|
||||
| | **External Position** | 接收外部位置数据 | 7 |
|
||||
| | **External Velocity** | 接收外部速度数据 | 8 |
|
||||
| | **External Position&Velocity** | 接收外部位置和速度数据 | 9 |
|
||||
| | **External Attitude angle** | 接收外部姿态数据 | 10 |
|
||||
| | **External Time** | 接收外部时间数据 | 11 |
|
||||
| | **External Heading** | 接收外部航向数据 | 12 |
|
||||
| | **External Depth** | 接收外部深度数据 | 13 |
|
||||
| | **External SLAM1** | 接收外部slam1数据 | 14 |
|
||||
| | **External SLAM2** | 接收外部slam2数据 | 15 |
|
||||
| | **External Pitot Pressure** | 接收外部气压计数据 | 16 |
|
||||
| | **External Air speed** | 接收外部空速数据 | 17 |
|
||||
| | **External Odom** | 接收外部里程计数据 | 18 |
|
||||
| | **External LIDAR** | 接收外部雷达数据 | 19 |
|
||||
81
docs/IMU/packet.md
Normal file
81
docs/IMU/packet.md
Normal file
@@ -0,0 +1,81 @@
|
||||
# Data Packets
|
||||
|
||||
FDILink 数据包提供广泛的功能。fdilink 主要数据包包含两类 **State Packets** 可以读取相关的系统状态以及导航数据。
|
||||
|
||||
这些包可以通过上位机配置后让导航系统按照一定频率主动发送，也可以通过 **Request Packets** 请求发送对应的 State Packets。
|
||||
|
||||
## State Packets
|
||||
|
||||
| Packet ID | Name | Description | Length | R/W |
|
||||
|--- |--- |--- |--- |--- |
|
||||
| 39 | MSG_VERSION | 版本信息 | 26 | R |
|
||||
| 40 | MSG_IMU | IMU传感器数据 | 56 | R |
|
||||
| 41 | MSG_AHRS | 航姿参考系统数据 | 48 | R |
|
||||
| 42 | MSG_INS_GPS | 组合导航输出数据 | 72 | R |
|
||||
| 50 | MSG_SYS_STATE | 组合导航系统数据 | 100 | R |
|
||||
| 51 | MSG_UNIX_TIME | 系统UNIX时间 | 8 | R |
|
||||
| 52 | MSG_FORMAT_TIME | 系统格式时间 | 14 | R |
|
||||
| 53 | MSG_STATUS | 系统状态和滤波器状态 | 4 | R |
|
||||
| 54 | MSG_POS_STD_DEV | 卡尔曼滤波P矩阵的位置标准差 | 12 | R |
|
||||
| 55 | MSG_VEL_STD_DEV | 卡尔曼滤波P矩阵的速度标准差 | 12 | R |
|
||||
| 56 | MSG_EULER_ORIEN_STD_DEV | 卡尔曼滤波P矩阵的姿态角标准差 | 12 | R |
|
||||
| 57 | MSG_QUAT_ORIEN_STD_DEV | 卡尔曼滤波P矩阵的四元数标准差 | 16 | R |
|
||||
| 58 | MSG_RAW_SENSORS | 原始IMU传感器数据 | 48 | R |
|
||||
| 59 | MSG_RAW_GNSS | 原始GNSS数据 | 74 | R |
|
||||
| 5A | MSG_SATELLITE | 卫星简要信息 | 9 | R |
|
||||
| 5B | MSG_DETAILED_SATELLITE | 卫星详细信息 | X | R |
|
||||
| 5C | MSG_GEODETIC_POS | 卡尔曼滤波融合的经纬高数据 | 32 | R |
|
||||
| 5D | MSG_ECEF_POS | 卡尔曼滤波融合的ECEF系坐标数据 | 24 | R |
|
||||
| 5E | MSG_UTM_POS | 卡尔曼滤波融合的UTM坐标数据 | 14 | R |
|
||||
| 5F | MSG_NED_VEL | 卡尔曼滤波融合的北东地速度 | 12 | R |
|
||||
| 60 | MSG_BODY_VEL | 卡尔曼滤波融合的机体系XYZ速度 | 12 | R |
|
||||
| 61 | MSG_ACCELERATION | 滤波修正后的机体系加速度 | 12 | R |
|
||||
| 62 | MSG_BODY_ACCELERATION | 滤波修正后的机体系加速度-不含重力 | 16 | R |
|
||||
| 63 | MSG_EULER_ORIEN | 卡尔曼滤波融合的欧拉角 | 12 | R |
|
||||
| 64 | MSG_QUAT_ORIEN | 卡尔曼滤波融合的四元数 | 16 | R |
|
||||
| 65 | MSG_DCM_ORIEN | 方向余弦矩阵 | 36 | R |
|
||||
| 66 | MSG_ANGULAR_VEL | 滤波修正后的IMU角速度数据 | 12 | R |
|
||||
| 67 | MSG_ANGULAR_ACC | 卡尔曼滤波估计的IMU角加速度 | 12 | R |
|
||||
| 6D | MSG_RUNNING_TIME | 系统运行时长 | 8 | R |
|
||||
| 6E | MSG_LOCAL_MAG_FIELD | 磁传感器相关数据 | 24 | R |
|
||||
| 6F | MSG_ODOMETER_STATE | 系统解算后里程计相关数据 | 18 | R |
|
||||
| 72 | MSG_GEOID_HEIGHT | 卡尔曼滤波融合的大地高度 | 4 | R |
|
||||
| 75 | MSG_WIND | 系统解算后的风速 | 12 | R |
|
||||
| 76 | MSG_HEAVE | 船舶海浪升沉相关数据 | 16 | R |
|
||||
| 77 | MSG_RAW_SATELLITE | 原始星历数据 | X | R |
|
||||
| 78 | MSG_GNSS_DUAL_ANT | GNSS双天线原始数据 | 134 | R |
|
||||
| 7A | MSG_GIMBAL_STATE | 云台数据 | 8 | R |
|
||||
| 7B | MSG_AUTOMOTIVE | 车载相关数据 | 24 | R |
|
||||
| 80 | MSG_INSTALL_ALIGN | 系统安装偏移数据 | 45 | R |
|
||||
| 81 | MSG_FILTER_OPTIONS | 卡尔曼滤波器使能状态 | 12 | R |
|
||||
| 82 | MSG_GPIO_CONFIG | GPIO配置状态 | 5 | R |
|
||||
| 83 | MSG_MAG_CALI_VALUES | 磁力计校准参数 | 49 | R |
|
||||
| 84 | MSG_MAG_CALI_CONFIG | 磁校准方式 | 1 | R |
|
||||
| 85 | MSG_MAG_CALI_STATUS | 磁校准状态 | 3 | R |
|
||||
| 88 | MSG_REF_POINT_OFFSET | 船载参考点映射偏移量 | 49 | R |
|
||||
| A0 | MSG_BAUD_RATES | 端口的波特率配置状态 | 25 | R |
|
||||
| A1 | MSG_SENSOR_RANGES | 传感器量程 | 6 | R |
|
||||
|
||||
### 外部可写入指令数据帧
|
||||
|
||||
| Packet ID | Name | Description | Length | R/W |
|
||||
|--- |--- |--- |--- |--- |
|
||||
| 68 | MSG_EXT_PV | 外部输入速度和位置数据 | 60 | W |
|
||||
| 69 | MSG_EXT_POS | 外部输入位置数据 | 36 | W |
|
||||
| 6A | MSG_EXT_VEL | 外部输入NED速度数据 | 24 | W |
|
||||
| 6B | MSG_EXT_BODY_VEL | 外部输入机体系速度数据 | 24 | W |
|
||||
| 6C | MSG_EXT_HEADING | 外部输入航向数据 | 8 | W |
|
||||
| 70 | MSG_EXT_TIME | 外部输入时钟数据 | 8 | W |
|
||||
| 71 | MSG_EXT_DEPTH | 外部输入深度数据 | 8 | W |
|
||||
| 73 | MSG_RTCM_CORRECTIONS | 外部输入RTCM校准数据流 | X | W |
|
||||
| 74 | MSG_EXT_PITOT_PRESS | 外部输入皮托管气压数据 | 8 | W |
|
||||
| 79 | MSG_EXT_AIR | 外部输入空速数据 | 25 | W |
|
||||
| 90 | MSG_EXT_ODOM | 外部输入里程计数据 | 21 | W |
|
||||
| 91 | MSG_EXT_SLAM1 | 外部输入SLAM1格式数据 | 72 | W |
|
||||
| 94 | MSG_EXT_DVL | 外部输入多普勒计程仪数据 | 29 | W |
|
||||
|
||||
## Request Packets
|
||||
|
||||
| Packet ID | Name | Description | Length | R/W |
|
||||
|--- |--- |--- |--- |--- |
|
||||
| A0 | MSG_REQUEST_PACKET | 数据帧请求格式 | X | W |
|
||||
140
docs/IMU/protocol.md
Normal file
140
docs/IMU/protocol.md
Normal file
@@ -0,0 +1,140 @@
|
||||
# 数据类型
|
||||
|
||||
有以下数据类型被在通信协议中使用。 协议中的数据类型都是 **小端序**。
|
||||
|
||||
## 数据帧组成
|
||||
|
||||
| | 帧头 | 帧头 | 帧头 | 帧头 | 帧头 | 数据区 | 数据区 | 帧尾 |
|
||||
|--- |--- |--- |--- |--- |--- |--- |--- |--- |
|
||||
| | 起始 | 指令类别 | 数据长度 | 流水序号 | 帧头CRC8 | 数据CRC16 | 载荷 | 结束 |
|
||||
| 字节数 | 1 | 1 | 1 | 1 | 1 | 2 | 1-255 | 1 |
|
||||
| 数值 | 0xFC | **A** | **B** | **C** | **D** | 高字节(E), 低字节(E) || 0xFD |
|
||||
|
||||
- **A**: 指令的类别，如下表所示
|
||||
|
||||
| 指令类别 | | |
|
||||
|---|---|---|
|
||||
| 0x40 | 经过校准的IMU数据 | MSG_IMU |
|
||||
| 0x41 | AHRS数据 | MSG_AHRS |
|
||||
| 0x42 | INS/GPS数据 | MSG_INS/GPS |
|
||||
| 0x58 | 传感器原始数据 | MSG_RAW_GNSS |
|
||||
|
||||
- **B**: 载荷的字节数
|
||||
- **C**: 流水号，每发送一个数据帧数值加一，用于检测数据帧丢包
|
||||
- **D**: 帧头CRC8校验，计算帧头部分（起始标志 + 指令类别 + 数据长度 + 流水序号）
|
||||
- **E**: 数据CRC16校验，计算载荷数据的CRC16校验
|
||||
- **F**: 0xF0 是上位机心跳请求
|
||||
|
||||
## CRC8校验
|
||||
|
||||
CRC 8校验位：标志位 + 指令类别 + 数据长度 + 流水序号
|
||||
|
||||
CRC 8校验程序如下：
|
||||
|
||||
```c
|
||||
static const uint8_t CRC8Table[] = {
|
||||
0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
|
||||
157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
|
||||
35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
|
||||
190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
|
||||
70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
|
||||
219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
|
||||
101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
|
||||
248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
|
||||
140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
|
||||
17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
|
||||
175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
|
||||
50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
|
||||
202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
|
||||
87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
|
||||
233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
|
||||
116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
|
||||
};
|
||||
uint8_t CRC8_Table(uint8_t* p, uint8_t counter)
|
||||
{
|
||||
uint8_t crc8 = 0;
|
||||
for (int i = 0; i < counter; i++)
|
||||
{
|
||||
uint8_t value = p[i];
|
||||
uint8_t new_index = crc8 ^ value;
|
||||
crc8 = CRC8Table[new_index];
|
||||
}
|
||||
return (crc8);
|
||||
}
|
||||
```
|
||||
|
||||
CRC8 校验程序调用举例：
|
||||
|
||||
```c
|
||||
uint8_t CRC8 = CRC8_Table(data, data_len);
|
||||
```
|
||||
|
||||
## CRC16校验
|
||||
|
||||
CRC 16校验：载荷
|
||||
|
||||
CRC 16校验程序如下：
|
||||
|
||||
```c
|
||||
static const uint16_t CRC16Table[256] =
|
||||
{
|
||||
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
|
||||
0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
|
||||
0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
|
||||
0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
|
||||
0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
|
||||
0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
|
||||
0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
|
||||
0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
|
||||
0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
|
||||
0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
|
||||
0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
|
||||
0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
|
||||
0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
|
||||
0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
|
||||
0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
|
||||
0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
|
||||
0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
|
||||
0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
|
||||
0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
|
||||
0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
|
||||
0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
|
||||
0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
|
||||
0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
|
||||
0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
|
||||
0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
|
||||
0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
|
||||
0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
|
||||
0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
|
||||
0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
|
||||
0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
|
||||
0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
|
||||
0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
|
||||
};
|
||||
uint16_t CRC16_Table(uint8_t* p, uint8_t counter)
|
||||
{
|
||||
uint16_t crc16 = 0;
|
||||
for (int i = 0; i < counter; i++)
|
||||
{
|
||||
uint8_t value = p[i];
|
||||
crc16 = CRC16Table[((crc16 >> 8) ^ value) & 0xff] ^ (crc16 << 8);
|
||||
}
|
||||
return (crc16);
|
||||
}
|
||||
```
|
||||
|
||||
CRC16 校验程序调用举例：
|
||||
|
||||
```c
|
||||
uint16_t CRC16 = CRC16_Table(payload, length);
|
||||
```
|
||||
|
||||
## AN数据帧定义与自定义CAN_ID
|
||||
|
||||
打开 FDIGroundStation 上位机，连接设备后将 COMM 板块的 CAN 数据输出口设置为 **NAV** 选项后，用户即可通过CAN获取数据，输出数据帧定义与FDILink协议一致，如下表所示。
|
||||
|
||||
| | 帧头 | 帧头 | 帧头 | 帧头 | 帧头 | 数据区 | 数据区 | 帧尾 |
|
||||
|--- |--- |--- |--- |--- |--- |--- |--- |--- |
|
||||
| | 起始 | 指令类别 | 数据长度 | 流水序号 | 帧头CRC8 | 数据CRC16 | 载荷 | 结束 |
|
||||
| 字节数 | 1 | 1 | 1 | 1 | 1 | 2 | 1-255 | 1 |
|
||||
| 数值 | 0xFC | **A** | **B** | **C** | **D** | 高字节(E), 低字节(E) || 0xFD |
|
||||
91
docs/RefreeSys/packet.md
Normal file
91
docs/RefreeSys/packet.md
Normal file
@@ -0,0 +1,91 @@
|
||||
# RoboMaster 2026 机甲大师高校系列赛通信协议
|
||||
|
||||
**版本**: V1.2.0
|
||||
**发布日期**: 2026年02月
|
||||
|
||||
---
|
||||
|
||||
## 1. 串口协议
|
||||
|
||||
### 1.1 串口协议格式
|
||||
|
||||
通信方式为串口，配置为：
|
||||
- **常规链路波特率**: 115200
|
||||
- **图传链路波特率**: 921600
|
||||
- **数据位**: 8位
|
||||
- **停止位**: 1位
|
||||
- **硬件流控**: 无
|
||||
- **校验位**: 无
|
||||
|
||||
#### 表 1-1 通信协议格式
|
||||
|
||||
| 字段 | 长度 | 说明 |
|
||||
|:---|:---:|:---|
|
||||
| frame_header | 5-byte | 帧头 |
|
||||
| cmd_id | 2-byte | 命令码 |
|
||||
| data | n-byte | 数据 |
|
||||
| frame_tail | 2-byte | CRC16 整包校验 |
|
||||
|
||||
#### 表 1-2 frame_header 格式
|
||||
|
||||
| 字段 | 长度 | 说明 |
|
||||
|:---|:---:|:---|
|
||||
| SOF | 1-byte | 起始字节 |
|
||||
| data_length | 2-byte | 数据长度 |
|
||||
| seq | 1-byte | 包序号 |
|
||||
| CRC8 | 1-byte | 帧头 CRC8 校验 |
|
||||
|
||||
#### 表 1-3 帧头详细定义
|
||||
|
||||
| 域 | 偏移位置 | 大小(字节) | 详细描述 |
|
||||
|:---|:---:|:---:|:---|
|
||||
| SOF | 0 | 1 | 数据帧起始字节，固定值为 0xA5 |
|
||||
| data_length | 1 | 2 | 数据帧中 data 的长度 |
|
||||
| seq | 3 | 1 | 包序号 |
|
||||
| CRC8 | 4 | 1 | 帧头 CRC8 校验 |
|
||||
|
||||
> **数据链路说明**: 裁判系统串口数据链路有三种：**常规链路**、**图传链路**、**雷达无线链路**。
|
||||
|
||||
---
|
||||
|
||||
### 1.2 命令码 ID 和常规链路数据说明
|
||||
|
||||
#### 表 1-4 命令码 ID 一览
|
||||
|
||||
| 命令码 | 数据段长度 | 说明 | 发送方/接收方 | 所属数据链路 |
|
||||
|:---|:---:|:---|:---|:---:|
|
||||
| 0x0001 | 11 | 比赛状态数据，固定以 1Hz 频率发送 | 服务器→全体机器人 | 常规链路 |
|
||||
| 0x0002 | 1 | 比赛结果数据，比赛结束触发发送 | 服务器→全体机器人 | 常规链路 |
|
||||
| 0x0003 | 16 | 机器人血量数据，固定以 3Hz 频率发送 | 服务器→全体机器人 | 常规链路 |
|
||||
| 0x0101 | 4 | 场地事件数据，固定以 1Hz 频率发送 | 服务器→己方全体机器人 | 常规链路 |
|
||||
| 0x0104 | 3 | 裁判警告数据，己方判罚/判负时触发发送，其余时间以 1Hz 频率发送 | 服务器→被判罚方全体机器人 | 常规链路 |
|
||||
| 0x0105 | 3 | 飞镖发射相关数据，固定以 1Hz 频率发送 | 服务器→己方全体机器人 | 常规链路 |
|
||||
| 0x0201 | 13 | 机器人性能体系数据，固定以 10Hz 频率发送 | 主控模块→对应机器人 | 常规链路 |
|
||||
| 0x0202 | 14 | 实时底盘缓冲能量和射击热量数据，固定以 10Hz 频率发送 | 主控模块→对应机器人 | 常规链路 |
|
||||
| 0x0203 | 16 | 机器人位置数据，固定以 1Hz 频率发送 | 主控模块→对应机器人 | 常规链路 |
|
||||
| 0x0204 | 8 | 机器人增益和底盘能量数据，固定以 3Hz 频率发送 | 服务器→对应机器人 | 常规链路 |
|
||||
| 0x0206 | 1 | 伤害状态数据，伤害发生后发送 | 主控模块→对应机器人 | 常规链路 |
|
||||
| 0x0207 | 7 | 实时射击数据，弹丸发射后发送 | 主控模块→对应机器人 | 常规链路 |
|
||||
| 0x0208 | 6 | 允许发弹量，固定以 10Hz 频率发送 | 服务器→己方英雄、步兵、哨兵、空中机器人 | 常规链路 |
|
||||
| 0x0209 | 5 | 机器人 RFID 模块状态，固定以 3Hz 频率发送 | 服务器→己方装有 RFID 模块的机器人 | 常规链路 |
|
||||
| 0x020A | 6 | 飞镖选手端指令数据，固定以 3Hz 频率发送 | 服务器→己方飞镖机器人 | 常规链路 |
|
||||
| 0x020B | 40 | 地面机器人位置数据，固定以 1Hz 频率发送 | 服务器→己方哨兵机器人 | 常规链路 |
|
||||
| 0x020C | 2 | 雷达标记进度数据，固定以 1Hz 频率发送 | 服务器→己方雷达机器人 | 常规链路 |
|
||||
| 0x020D | 6 | 哨兵自主决策信息同步，固定以 1Hz 频率发送 | 服务器→己方哨兵机器人 | 常规链路 |
|
||||
| 0x020E | 1 | 雷达自主决策信息同步，固定以 1Hz 频率发送 | 服务器→己方雷达机器人 | 常规链路 |
|
||||
| 0x0301 | 118 | 机器人交互数据，发送方触发发送，频率上限为 30Hz | - | 常规链路 |
|
||||
| 0x0302 | 30 | 自定义控制器与机器人交互数据，发送方触发发送，频率上限为 30Hz | 自定义控制器→选手端图传连接的机器人 | 图传链路 |
|
||||
| 0x0303 | 15 | 选手端小地图交互数据，选手端触发发送 | 选手端点击→服务器→发送方选择的己方机器人 | 常规链路 |
|
||||
| 0x0305 | 24 | 选手端小地图接收雷达数据，频率上限为 5Hz | 雷达→服务器→己方所有选手端 | 常规链路 |
|
||||
| 0x0306 | 8 | 自定义控制器与选手端交互数据，发送方触发发送，频率上限为 30Hz | 自定义控制器→选手端 | - |
|
||||
| 0x0307 | 103 | 选手端小地图接收路径数据，频率上限为 1Hz | 哨兵/半自动控制机器人→对应操作手选手端 | 常规链路 |
|
||||
| 0x0308 | 34 | 选手端小地图接收机器人数据，频率上限为 3Hz | 己方机器人→己方选手端 | 常规链路 |
|
||||
| 0x0309 | 30 | 自定义控制器接收机器人数据，频率上限为 10Hz | 己方机器人→对应操作手选手端连接的自定义控制器 | 图传链路 |
|
||||
| 0x0310 | 300 | 机器人发送给自定义客户端的数据，频率上限为 50Hz | 己方机器人→图传链路→对应操作手选手端连接的自定义客户端 | 图传链路 |
|
||||
| 0x0311 | 30 | 自定义客户端发送给机器人的自定义指令，频率上限为 75Hz | 对应操作手选手端连接的自定义客户端→图传链路→己方机器人 | 图传链路 |
|
||||
| 0x0A01 | 24 | 对方机器人的位置坐标，频率上限为 10Hz | 信号发射源→雷达 | 雷达无线链路 |
|
||||
| 0x0A02 | 12 | 对方机器人的血量信息，频率上限为 10Hz | 信号发射源→雷达 | 雷达无线链路 |
|
||||
| 0x0A03 | 10 | 对方机器人的剩余发弹量信息，频率上限为 10Hz | 信号发射源→雷达 | 雷达无线链路 |
|
||||
| 0x0A04 | 8 | 对方队伍的宏观状态信息，频率上限为 10Hz | 信号发射源→雷达 | 雷达无线链路 |
|
||||
| 0x0A05 | 36 | 对方各机器人当前增益效果，频率上限为 10Hz | 信号发射源→雷达 | 雷达无线链路 |
|
||||
| 0x0A06 | 6 | 对方干扰波密钥，频率上限为 10Hz | 信号发射源→雷达 | 雷达无线链路 |
|
||||
27
docs/Transmit/ctrl_command.md
Normal file
27
docs/Transmit/ctrl_command.md
Normal file
@@ -0,0 +1,27 @@
|
||||
# 控制指令的发送说明
|
||||
|
||||
在主机外接收的控制板中的控制代码的实现是：
|
||||
|
||||
```c
|
||||
// CAN 速率 1000kbps
|
||||
void CToC_CANDataProcess(unit32_t ID, uint8_t *Data)
|
||||
{
|
||||
// 以下所有变量有效范围为 [-660,660]
|
||||
if(ID == 0x149) // 运动控制
|
||||
{
|
||||
|
||||
Remote_RxData.Remote_R_RL =(int16_t)((uint16_t)Data[0]<<8 | Data[1]); // 平动 X 轴（左右）
|
||||
Remote_RxData.Remote_R_UD =(int16_t)((uint16_t)Data[2]<<8 | Data[3]); // 平动 Y 轴（前后）
|
||||
Remote_RxData.Remote_L_RL =(int16_t)((uint16_t)Data[4]<<8 | Data[5]); // 云台偏航 （左右）
|
||||
Remote_RxData.Remote_L_UD =(int16_t)((uint16_t)Data[6]<<8 | Data[7]); // 云台俯仰 （上下）
|
||||
}
|
||||
else if(ID == 0x189) // 攻击控制
|
||||
{
|
||||
Remote_RxData.Remote_ThumbWheel =(int16_t)((uint16_t)Data[0]<<8 | Data[1]); // 拨弹盘（进弹/退弹），660 为进弹，0 为关闭，-660 为退弹
|
||||
Remote_RxData.Remote_RS =(int16_t)((uint16_t)Data[2]<<8 | Data[3]); // 小陀螺（反自瞄）开关，置 660 为开启，0 为关闭
|
||||
Remote_RxData.Remote_LS =(int16_t)((uint16_t)Data[4]<<8 | Data[5]); // 摩擦轮开关， 置 660 为开启，0 为关闭
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
两个 ID 分别是云台和底盘的控制板，在处于进点/回家状态时不应开启小陀螺，发射弹丸需要**打开摩擦轮 同时 进弹**，因此只有在处于攻击状态时开启摩擦轮，此时可以将进弹视为扳机。
|
||||
0
transmitter_sdk/example.c
Normal file
0
transmitter_sdk/example.c
Normal file
149
transmitter_sdk/inc/pub_user.h
Executable file
149
transmitter_sdk/inc/pub_user.h
Executable file
@@ -0,0 +1,149 @@
|
||||
//
|
||||
// Created by 93094 on 2025/12/23.
|
||||
//
|
||||
|
||||
#ifndef DM_DEVICE_PUB_USER_H
|
||||
#define DM_DEVICE_PUB_USER_H
|
||||
|
||||
#define DEVICE_EXPORTS
|
||||
|
||||
#ifdef _WIN32
|
||||
#ifdef DEVICE_EXPORTS
|
||||
#define DEVICE_API __declspec(dllexport)
|
||||
#else
|
||||
#define DEVICE_API __declspec(dllimport)
|
||||
#endif
|
||||
#else
|
||||
#define DEVICE_API __attribute__((visibility("default")))
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
extern "C"
|
||||
{
|
||||
typedef struct damiao_handle hDamiaoUsb;
|
||||
typedef struct device_handle hDevice;
|
||||
|
||||
#pragma pack(push,1)
|
||||
typedef struct
|
||||
{
|
||||
uint32_t can_id:29; //can id
|
||||
uint32_t esi:1; //错误状态指示 一般不用
|
||||
uint32_t ext:1; //拓展帧 1-拓展帧 0-标准帧
|
||||
uint32_t rtr:1; //远程帧 1-远程帧 0-数据帧
|
||||
uint8_t canfd:1; //canfd 1-canfd帧 0-can2.0帧
|
||||
uint8_t brs:1; //波特率切换 1-切换 0-不切换
|
||||
uint8_t id_inc:1; //ID自增 1-自增 0-不自增
|
||||
uint8_t data_inc:1; //数据自增 1-自增 0-不自增
|
||||
uint8_t dlc:4; //数据长度
|
||||
uint8_t channel; //通道号
|
||||
uint16_t reserved; //预留字节
|
||||
uint16_t step_id; //步进ID
|
||||
uint32_t stop_id; //停止ID
|
||||
uint32_t interval; //发送间隔
|
||||
int32_t send_times; //发送次数
|
||||
|
||||
}usb_tx_frame_head_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
usb_tx_frame_head_t head;
|
||||
uint8_t payload[64];
|
||||
|
||||
}usb_tx_frame_t;
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint32_t can_id:29; //can id
|
||||
uint32_t esi:1; //错误状态指示 一般不用
|
||||
uint32_t ext:1; //类型：标准/拓展
|
||||
uint32_t rtr:1; //类型：数据/远程
|
||||
uint64_t time_stamp; //时间戳
|
||||
uint8_t channel; //发送通道
|
||||
uint8_t canfd:1; //类型：2.0/fd
|
||||
uint8_t dir:1; //方向：rx/tx
|
||||
uint8_t brs:1; //BRS
|
||||
uint8_t ack:1; //应答标志
|
||||
uint8_t dlc:4; //长度
|
||||
uint16_t reserved; //预留字节
|
||||
}usb_rx_frame_head_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
usb_rx_frame_head_t head;
|
||||
uint8_t payload[64];
|
||||
|
||||
}usb_rx_frame_t ;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
int can_baudrate;
|
||||
int canfd_baudrate;
|
||||
float can_sp;
|
||||
float canfd_sp;
|
||||
}device_baud_t;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
DEV_None=-1,
|
||||
DEV_USB2CANFD=0,
|
||||
DEV_USB2CANFD_DUAL,
|
||||
DEV_ECAT2CANFD
|
||||
}device_def_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t channel;
|
||||
uint8_t can_fd;
|
||||
uint8_t can_seg1;
|
||||
uint8_t can_seg2;
|
||||
uint8_t can_sjw;
|
||||
uint8_t can_prescaler;
|
||||
uint8_t canfd_seg1;
|
||||
uint8_t canfd_seg2;
|
||||
uint8_t canfd_sjw;
|
||||
uint8_t canfd_prescaler;
|
||||
}dmcan_ch_can_config_t;
|
||||
|
||||
|
||||
#pragma pack(pop)
|
||||
|
||||
|
||||
typedef void (*dev_rec_callback)(usb_rx_frame_t* rec_frame);
|
||||
typedef void (*dev_sent_callback)(usb_rx_frame_t* sent_frame);
|
||||
typedef void (*dev_err_callback)(usb_rx_frame_t* err_frame);
|
||||
|
||||
|
||||
DEVICE_API damiao_handle* damiao_handle_create(device_def_t type);
|
||||
DEVICE_API void damiao_handle_destroy(damiao_handle* handle);
|
||||
DEVICE_API void damiao_print_version(damiao_handle* handle);
|
||||
DEVICE_API void damiao_get_sdk_version(damiao_handle* handle, char* version_buf, size_t buf_size);
|
||||
DEVICE_API int damiao_handle_find_devices(damiao_handle* handle);
|
||||
DEVICE_API void damiao_handle_get_devices(damiao_handle* handle,device_handle** dev_list, int* device_count);
|
||||
DEVICE_API void device_get_version(device_handle* dev, char* version_buf, size_t buf_size);
|
||||
DEVICE_API void device_get_pid_vid(device_handle* dev, int* pid, int* vid);
|
||||
DEVICE_API void device_get_serial_number(device_handle* dev, char* serial_buf, size_t buf_size);
|
||||
DEVICE_API void device_get_type(device_handle* dev, device_def_t* type);
|
||||
DEVICE_API bool device_open(device_handle* dev);
|
||||
DEVICE_API bool device_close(device_handle* dev);
|
||||
DEVICE_API bool device_save_config(device_handle* dev);
|
||||
DEVICE_API bool device_open_channel(device_handle* dev, uint8_t channel);
|
||||
DEVICE_API bool device_close_channel(device_handle* dev, uint8_t channel);
|
||||
DEVICE_API bool device_channel_get_baudrate(device_handle*dev ,uint8_t channel,device_baud_t* baud);
|
||||
DEVICE_API bool device_channel_set_baud(device_handle*dev ,uint8_t channel,bool canfd,int bitrate,int dbitrate);
|
||||
DEVICE_API bool device_channel_set_baud_with_sp(device_handle*dev ,uint8_t channel,bool canfd,int bitrate,int dbitrate,float can_sp,float canfd_sp);
|
||||
DEVICE_API void device_hook_to_rec(device_handle*dev,dev_rec_callback callback);
|
||||
DEVICE_API void device_hook_to_sent(device_handle*dev,dev_sent_callback callback);
|
||||
DEVICE_API void device_hook_to_err(device_handle*dev,dev_err_callback callback);
|
||||
DEVICE_API void device_channel_send(device_handle*dev,usb_tx_frame_t frame);
|
||||
DEVICE_API void device_channel_send_fast(device_handle*dev,uint8_t ch,uint32_t can_id,int32_t cnt,bool ext,bool canfd,bool brs,uint8_t len,uint8_t* payload);
|
||||
DEVICE_API void device_channel_send_advanced(device_handle*dev,uint8_t ch,uint32_t can_id,uint16_t step_id,uint32_t stop_id,int32_t cnt,bool id_inc,bool data_inc,bool ext,bool canfd,bool brs,uint8_t len,uint8_t* payload);
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
#endif //DM_DEVICE_PUB_USER_H
|
||||
BIN
transmitter_sdk/lib/linux/arm64/libdm_device.so
Executable file
BIN
transmitter_sdk/lib/linux/arm64/libdm_device.so
Executable file
Binary file not shown.
BIN
transmitter_sdk/lib/linux/x64/libdm_device.so
Executable file
BIN
transmitter_sdk/lib/linux/x64/libdm_device.so
Executable file
Binary file not shown.
Reference in New Issue
Block a user