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wiki:v2:protocol_reference [2018/10/10 17:18]
pixycam [sendPacket / requests sent to Pixy2]
wiki:v2:protocol_reference [2019/01/19 18:18] (current)
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 thereand it will happily interpret it correctly. ​ But it's good to know, and required information for the protocol to work correctly.
  
  
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 ^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 | (varies) | |2 |Type of packet | (varies) |
 |3 |Length of payload in bytes (len) | (varies) | |3 |Length of payload in bytes (len) | (varies) |
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 ==== recvPacket / responses received from Pixy2 ==== ==== recvPacket / responses received from Pixy2 ====
  
-^Byte ^Description ^ Value ^ +^Byte ^Description ^ Value(s) 
-|0 - 1 |Sync (indicates whether to expect checksum) ​| 175, 193 |+|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) |
-|4 - 5 |Checksum ​| sum of payload bytes | +|4 - 5 |16-bit checksum ​| sum of payload bytes | 
-|6 - len |Payload ​| (varies) |+|6 - len |Variable length payload ​| (varies) |
  
  
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 === Request: === === Request: ===
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |16-bit sync| 174193 (0xc1ae)|
 |2 |Type of packet |14 | |2 |Type of packet |14 |
 |3 |Length of payload |0 | |3 |Length of payload |0 |
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 === Response: === === Response: ===
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 |+|0 - 1 |16-bit sync | 175193 (0xc1af)|
 |2 |Type of packet |15 | |2 |Type of packet |15 |
 |3 |Length of payload |7 | |3 |Length of payload |7 |
-|4 - 5 |Checksum | | +|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) |
  
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 === Request: === === Request: ===
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |16-bit sync| 174193 (0xc1ae)|
 |2 |Type of packet |12 | |2 |Type of packet |12 |
 |3 |Length of payload |1 | |3 |Length of payload |1 |
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 === Response: === === Response: ===
  
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 |+|0 - 1 |16-bit sync| 175193 (0xc1af)|
 |2 |Type of packet |13 | |2 |Type of packet |13 |
 |3 |Length of payload |2 | |3 |Length of payload |2 |
-|4 - 5 |Checksum | | +|4 - 5 |16-bit checksum ​sum of payload bytes 
-|6 - 7 |Frame width | 0 - 511 (little-endian) ​+|6 - 7 |16-bit frame width | 0 - 511  
-|8 - 9 |Frame height | 0 - 511 (little-endian) ​|+|8 - 9 |16-bit frame height | 0 - 511  |
 ==== setCameraBrightness(brightness) ==== ==== setCameraBrightness(brightness) ====
  
 === Request: === === Request: ===
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |Sync | 174193 (0xc1ae)|
 |2 |Type of packet |16 | |2 |Type of packet |16 |
 |3 |Length of payload |1 | |3 |Length of payload |1 |
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 === Response: === === Response: ===
  
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 | +|0 - 1 |16-bit sync| 175193 (0xc1af)
-|2 |Type of packet |17 |+|2 |Type of packet ||
 |3 |Length of payload |4 | |3 |Length of payload |4 |
-|4 - 5 |Checksum | | +|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 ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |16-bit sync| 174193 (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 (little-endian)+|4 - 5 |16-bit ​s0 - pan servo value |0 - 511 | 
-|6 - 7 |s1 - tilt servo value |0 - 511 (little-endian)|+|6 - 7 |16-bit ​s1 - tilt servo value |0 - 511 |
  
 === Response: === === Response: ===
  
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 | +|0 - 1 |16-bit sync | 175193 (0xc1af)
-|2 |Type of packet |19 |+|2 |Type of packet ||
 |3 |Length of payload |4 | |3 |Length of payload |4 |
-|4 - 5 |Checksum | | +|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 ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |16-bit sync | 174193 (0xc1ae)|
 |2 |Type of packet |20 | |2 |Type of packet |20 |
 |3 |Length of payload |3 | |3 |Length of payload |3 |
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 === Response: === === Response: ===
  
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 | +|0 - 1 |16-bit sync | 175193 (0xc1af)
-|2 |Type of packet |21 |+|2 |Type of packet ||
 |3 |Length of payload |4 | |3 |Length of payload |4 |
-|4 - 5 |Checksum | | +|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 ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |16-bit sync | 174193 (0xc1ae)|
 |2 |Type of packet |22 | |2 |Type of packet |22 |
 |3 |Length of payload |2 | |3 |Length of payload |2 |
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 === Response: === === Response: ===
  
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 | +|0 - 1 |16-bit sync | 175193 (0xc1af)
-|2 |Type of packet |23 |+|2 |Type of packet ||
 |3 |Length of payload |4 | |3 |Length of payload |4 |
-|4 - 5 |Checksum | | +|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 ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 174 193 |+|0 - 1 |16-bit sync | 174193 (0xc1ae)|
 |2 |Type of packet |24 | |2 |Type of packet |24 |
 |3 |Length of payload |0 | |3 |Length of payload |0 |
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 === Response: === === Response: ===
  
-^Byte ^Description ^Value ^ +^Byte ^Description ^Value(s) 
-|0 - 1 |Sync | 175 193 | +|0 - 1 |16-bit sync | 175193 (0xc1af)
-|2 |Type of packet |25 |+|2 |Type of packet ||
 |3 |Length of payload |4 | |3 |Length of payload |4 |
-|4 - 5 |Checksum | | +|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.1539191908.txt.gz · Last modified: 2018/10/10 17:18 by pixycam