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Addition of FTC I2C Protocol #35

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Addition of FTC I2C Protocol #35

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01e6df6
Attempt to Add FTC Compatible I2C Calls
Andrewiski Nov 25, 2017
d7dfd31
Added i2c 0x70
Andrewiski Nov 30, 2017
d801978
FTC Changes Use Lego I2c
Andrewiski Dec 5, 2017
8e35996
Added FTC I2C as PixyMon Option
Andrewiski Dec 21, 2017
0b863da
FTC I2C Added as an Serial Protocol Option, Firmware Bump to 2.0.20
Andrewiski Dec 21, 2017
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7 changes: 7 additions & 0 deletions src/common/inc/blobs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "pixytypes.h"
#include "colorlut.h"
#include "qqueue.h"
#include <stdlib.h> //added to get sort by area functionality

#define MAX_BLOBS 100
#define MAX_BLOBS_PER_MODEL 20
Expand All @@ -28,6 +29,7 @@
#define MIN_COLOR_CODE_AREA 10
#define MAX_CODED_DIST 8
#define MAX_COLOR_CODE_MODELS 5
#define MAX_FTCBLOBS 5

#define BL_BEGIN_MARKER 0xaa55
#define BL_BEGIN_MARKER_CC 0xaa56
Expand All @@ -49,6 +51,7 @@ class Blobs
uint16_t getBlock(uint8_t *buf, uint32_t buflen);
uint16_t getCCBlock(uint8_t *buf, uint32_t buflen);
BlobA *getMaxBlob(uint16_t signature=0, uint16_t *numBlobs=NULL);
void getMaxBlobs(uint16_t signature, uint16_t maxNumBlobs, BlobA **maxBlobs, uint16_t *numBlobs);
void getBlobs(BlobA **blobs, uint32_t *len, BlobB **ccBlobs, uint32_t *ccLen);
int setParams(uint16_t maxBlobs, uint16_t maxBlobsPerModel, uint32_t minArea, ColorCodeMode ccMode);
int runlengthAnalysis();
Expand All @@ -69,6 +72,7 @@ class Blobs
bool closeby(BlobA *blob0, BlobA *blob1);
int16_t distance(BlobA *blob0, BlobA *blob1);
void sort(BlobA *blobs[], uint16_t len, BlobA *firstBlob, bool horiz);
//static int compareBlobAreas(const void *a, const void *b);
int16_t angle(BlobA *blob0, BlobA *blob1);
int16_t distance(BlobA *blob0, BlobA *blob1, bool horiz);
void processCC();
Expand All @@ -84,6 +88,9 @@ class Blobs
uint16_t *m_blobs;
uint16_t m_numBlobs;


uint16_t *m_ftcblobs;

BlobB *m_ccBlobs;
uint16_t m_numCCBlobs;

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