Renamed pixy_helper to pixy_frame. Updated docu of appliaction. added doxygen comments to pixy_{frame,control}.h

common/app/pixy_control.c

@@ -21,9 +21,6 @@
 #define REG_PID_KD      (0.001f)
 #define REG_PID_TA      (0.01f)
 
-void int_init(void){  
-    // TODO Init ports and outputs if needed.
-}
 
 // PID controller implementatoin for the y-axis
 int16_t pixy_PID_Y(int16_t x, int16_t w)

common/app/pixy_control.h

@@ -1,14 +1,41 @@
-/* 
+#ifndef PIXY_CONTROL_H_
- * pixy_control.h
+#define PIXY_CONTROL_H_
- */
-
-#ifndef _CONTROL_H_
-#define _CONTROL_H_
 
 #include<stdint.h>
 
-void int_init(void);
+/**
+ * @addtogroup app
+ */
+/*@{*/
+
+/**
+ * @defgroup pixy_control Pixy Control Helper
+ * A collection of helper functions that contain PID Control code used for object tracking.
+ */
+/*@}*/
+
+
+/**
+ * @addtogroup pixy_control
+ */
+/*@{*/
+
+/**
+ * Execute one step of PID regulation for the Y-servo.
+ * @param x desired value (e.g. current y-position of the biggest block)
+ * @param w actual value (e.g desired y-position)
+ * @return The offset which needs to be added to the Y-Servo position
+ */
 int16_t pixy_PID_Y(int16_t x, int16_t w);
+
+/**
+ * Execute one step of PID regulation for the X-servo.
+ * @param x desired value (e.g. current x-position of the biggest block)
+ * @param w actual value (e.g desired x-position)
+ * @return The offset which needs to be added to the X-Servo position
+ */
 int16_t pixy_PID_X(int16_t x, int16_t w);
 
-#endif
+/*@}*/
+
+#endif /* PIXY_CONTROL_H_ */

common/app/pixy_frame.c

@@ -1,4 +1,4 @@
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 #include "pixy.h"
 #include "tft.h"
 #include <stdlib.h>

common/app/pixy_frame.h

@@ -1,10 +1,30 @@
-#ifndef PIXY_HELPER_H
+#ifndef PIXY_FRAME_H
-#define PIXY_HELPER_H
+#define PIXY_FRAME_H
 
 #include <stdbool.h>
 #include <stdint.h>
 #include "filesystem.h"
 
+
+/**
+ * @addtogroup app
+ */
+/*@{*/
+
+/**
+ * @defgroup pixy_helper Pixy Frame Helper
+ * A collection of helper functions that allow receiving and rendering a frame from pixy onto the display.
+ * Furthermore you can select a color in a frame, to use for tracking.
+ */
+/*@}*/
+
+
+/**
+ * @addtogroup pixy_helper
+ */
+/*@{*/
+
+
 /**
  * Receives a fullsized frame from pixy and display's it on the display with the topleft corner at (x,y)
  * @param x The x-Coordinate of the top left corner
@@ -56,4 +76,6 @@ int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoff
  */
 int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height);
 
-#endif /* PIXY_HELPER_H */
+/*@}*/
+
+#endif /* PIXY_FRAME_H */

common/app/screen_photomode.c

@@ -5,7 +5,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 
 static bool pixy_connected = false; //Whether or not the pixy cam is currently connected
 

common/app/screen_photomode_save.c

@@ -4,7 +4,7 @@
 #include "tft.h"
 #include "touch.h"
 #include "pixy.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 #include <stdlib.h>
 #include <string.h>
 

common/app/screen_pixytest.c

@@ -5,7 +5,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 
 static volatile enum {detecting, idle,update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine
 

common/app/screen_tracking.c

@@ -6,7 +6,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 
 static BUTTON_STRUCT b_back; //Button to navigate back
 static BUTTON_STRUCT b_select; //Button to start the color region selection