wiki:v2:protocol_reference
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wiki:v2:protocol_reference [2018/10/10 17:29] pixycam [recvPacket / responses received from Pixy2] |
wiki:v2:protocol_reference [2018/10/10 19:33] pixycam |
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| - | It's not hugely important that you understand little-endian and two's complement representations -- 95% of all processors use little-endian and two's complement. So you basically read the bytes into memory and tell the processor there's an integer there and it will happily interpret it correctly. But it's good to know, and required information for the protocol to work correctly. | + | It's not hugely important that you understand little-endian and two's complement representations -- 95% of all processors use little-endian and two's complement. So you basically read the bytes into memory and tell the processor there's an integer there, and it will happily interpret it correctly. But it's good to know, and required information for the protocol to work correctly. |
| Line 32: | Line 32: | ||
| ^Byte ^Description ^ Value(s) ^ | ^Byte ^Description ^ Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 175, 193 (c1af) | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af) | |
| |2 |Type of packet | (varies) | | |2 |Type of packet | (varies) | | ||
| |3 |Length of payload in bytes (len) | (varies) | | |3 |Length of payload in bytes (len) | (varies) | | ||
| Line 45: | Line 45: | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync| 174, 193 | | + | |0 - 1 |16-bit sync| 174, 193 (0xc1ae)| |
| |2 |Type of packet |14 | | |2 |Type of packet |14 | | ||
| |3 |Length of payload |0 | | |3 |Length of payload |0 | | ||
| Line 52: | Line 52: | ||
| === Response: === | === Response: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 175, 193 | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af)| |
| |2 |Type of packet |15 | | |2 |Type of packet |15 | | ||
| |3 |Length of payload |7 | | |3 |Length of payload |7 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 7 |Hardware version | (varies) | | + | |6 - 7 |16-bit hardware version | (varies) | |
| |8 |Firmware version (major) | (varies) | | |8 |Firmware version (major) | (varies) | | ||
| |9 |Firmware version (minor) | (varies) | | |9 |Firmware version (minor) | (varies) | | ||
| - | |10 - 11 |Firmware build | (varies) | | + | |10 - 11 | 16-bit firmware build | (varies) | |
| |12 |Firmware type (human readable string) | (varies) | | |12 |Firmware type (human readable string) | (varies) | | ||
| Line 67: | Line 67: | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync| 174, 193 | | + | |0 - 1 |16-bit sync| 174, 193 (0xc1ae)| |
| |2 |Type of packet |12 | | |2 |Type of packet |12 | | ||
| |3 |Length of payload |1 | | |3 |Length of payload |1 | | ||
| Line 75: | Line 75: | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync| 175, 193 | | + | |0 - 1 |16-bit sync| 175, 193 (0xc1af)| |
| |2 |Type of packet |13 | | |2 |Type of packet |13 | | ||
| |3 |Length of payload |2 | | |3 |Length of payload |2 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 7 |Frame width | 0 - 511 | | + | |6 - 7 |16-bit frame width | 0 - 511 | |
| - | |8 - 9 |Frame height | 0 - 511 | | + | |8 - 9 |16-bit frame height | 0 - 511 | |
| ==== setCameraBrightness(brightness) ==== | ==== setCameraBrightness(brightness) ==== | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |Sync | 174, 193 | | + | |0 - 1 |Sync | 174, 193 (0xc1ae)| |
| |2 |Type of packet |16 | | |2 |Type of packet |16 | | ||
| |3 |Length of payload |1 | | |3 |Length of payload |1 | | ||
| Line 93: | Line 93: | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync| 175, 193 | | + | |0 - 1 |16-bit sync| 175, 193 (0xc1af)| |
| |2 |Type of packet |17 | | |2 |Type of packet |17 | | ||
| |3 |Length of payload |4 | | |3 |Length of payload |4 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 9 |Result |0 (???) | | + | |6 - 9 |32-bit result |result value | |
| ==== setServos(s0, s1) ==== | ==== setServos(s0, s1) ==== | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync| 174, 193 | | + | |0 - 1 |16-bit sync| 174, 193 (0xc1ae)| |
| |2 |Type of packet |18 | | |2 |Type of packet |18 | | ||
| |3 |Length of payload |4 | | |3 |Length of payload |4 | | ||
| - | |4 - 5 |s0 - pan servo value |0 - 511 | | + | |4 - 5 |16-bit s0 - pan servo value |0 - 511 | |
| - | |6 - 7 |s1 - tilt servo value |0 - 511 | | + | |6 - 7 |16-bit s1 - tilt servo value |0 - 511 | |
| === Response: === | === Response: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 175, 193 | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af)| |
| |2 |Type of packet |19 | | |2 |Type of packet |19 | | ||
| |3 |Length of payload |4 | | |3 |Length of payload |4 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 9 |Result |0 (???) | | + | |6 - 9 |32-bit result/acknowledge |result value | |
| ==== setLED(r, g, b) ==== | ==== setLED(r, g, b) ==== | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 174, 193 | | + | |0 - 1 |16-bit sync | 174, 193 (0xc1ae)| |
| |2 |Type of packet |20 | | |2 |Type of packet |20 | | ||
| |3 |Length of payload |3 | | |3 |Length of payload |3 | | ||
| Line 130: | Line 130: | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 175 193 | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af)| |
| |2 |Type of packet |21 | | |2 |Type of packet |21 | | ||
| |3 |Length of payload |4 | | |3 |Length of payload |4 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 9 |Result |0 (???) | | + | |6 - 9 |32-bit result/acknowledge | result value | |
| ==== setLamp(upper, lower) ==== | ==== setLamp(upper, lower) ==== | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 174 193 | | + | |0 - 1 |16-bit sync | 174, 193 (0xc1ae)| |
| |2 |Type of packet |22 | | |2 |Type of packet |22 | | ||
| |3 |Length of payload |2 | | |3 |Length of payload |2 | | ||
| Line 148: | Line 148: | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 175 193 | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af)| |
| |2 |Type of packet |23 | | |2 |Type of packet |23 | | ||
| |3 |Length of payload |4 | | |3 |Length of payload |4 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 9 |Result |0 (???) | | + | |6 - 9 |32-bit result/acknowledge | result value | |
| ==== getFPS() ==== | ==== getFPS() ==== | ||
| === Request: === | === Request: === | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 174, 193 | | + | |0 - 1 |16-bit sync | 174, 193 (0xc1ae)| |
| |2 |Type of packet |24 | | |2 |Type of packet |24 | | ||
| |3 |Length of payload |0 | | |3 |Length of payload |0 | | ||
| Line 165: | Line 165: | ||
| ^Byte ^Description ^Value(s) ^ | ^Byte ^Description ^Value(s) ^ | ||
| - | |0 - 1 |16-bit sync | 175, 193 | | + | |0 - 1 |16-bit sync | 175, 193 (0xc1af)| |
| |2 |Type of packet |25 | | |2 |Type of packet |25 | | ||
| |3 |Length of payload |4 | | |3 |Length of payload |4 | | ||
| |4 - 5 |16-bit checksum | sum of payload bytes | | |4 - 5 |16-bit checksum | sum of payload bytes | | ||
| - | |6 - 9 |Result |0 (???) | | + | |6 - 9 |32-bit result | frames-per-second | |
| {{page>wiki:v2:ccc-packets&noindent}} | {{page>wiki:v2:ccc-packets&noindent}} | ||
| {{page>wiki:v2:line-packets&noindent}} | {{page>wiki:v2:line-packets&noindent}} | ||
| {{page>wiki:v2:video-packets&noindent}} | {{page>wiki:v2:video-packets&noindent}} | ||
wiki/v2/protocol_reference.txt · Last modified: 2020/05/29 00:02 by pixycam
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