Prometheus / Pixy

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Dependents:   PixyTest PixyTest

PixyLinkI2C.h@2:c3a866b20784, 2017-05-17 (annotated)

Committer:
ZHAW_Prometheus
Date:
Wed May 17 07:37:43 2017 +0000
Revision:
2:c3a866b20784
Parent:
0:a2603d7fa0ac 
Vers. 17.05.2017

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 2:c3a866b20784 1 #ifndef PIXYLINKI2C_H
ZHAW_Prometheus 2:c3a866b20784 2 #define PIXYLINKI2C_H
ZHAW_Prometheus 0:a2603d7fa0ac 3
ZHAW_Prometheus 0:a2603d7fa0ac 4 #include "I2C.h"
ZHAW_Prometheus 0:a2603d7fa0ac 5 #include "PixyLink.h"
ZHAW_Prometheus 0:a2603d7fa0ac 6
ZHAW_Prometheus 0:a2603d7fa0ac 7 class PixyLinkI2C : public PixyLink, private I2C
ZHAW_Prometheus 0:a2603d7fa0ac 8 {
ZHAW_Prometheus 0:a2603d7fa0ac 9 public:
ZHAW_Prometheus 0:a2603d7fa0ac 10 PixyLinkI2C(PinName sda, PinName scl) :
ZHAW_Prometheus 2:c3a866b20784 11 PixyLink(PIXY_DEFAULT_ADDR), I2C(sda, scl){
ZHAW_Prometheus 2:c3a866b20784 12 I2C::frequency(100000);
ZHAW_Prometheus 2:c3a866b20784 13 };
ZHAW_Prometheus 0:a2603d7fa0ac 14
ZHAW_Prometheus 0:a2603d7fa0ac 15 virtual uint16_t getWord() {
ZHAW_Prometheus 0:a2603d7fa0ac 16 uint8_t data[2] = {0, 0};
ZHAW_Prometheus 0:a2603d7fa0ac 17 I2C::read((int)m_addr, (char *)data, 2);
ZHAW_Prometheus 0:a2603d7fa0ac 18 return ((uint16_t)data[1] << 8) | data[0];
ZHAW_Prometheus 0:a2603d7fa0ac 19 };
ZHAW_Prometheus 0:a2603d7fa0ac 20
ZHAW_Prometheus 0:a2603d7fa0ac 21 virtual uint8_t getByte() {
ZHAW_Prometheus 0:a2603d7fa0ac 22 uint8_t data = 0;
ZHAW_Prometheus 0:a2603d7fa0ac 23 I2C::read((int)m_addr, (char*)&data, 1);
ZHAW_Prometheus 0:a2603d7fa0ac 24 return data;
ZHAW_Prometheus 0:a2603d7fa0ac 25 };
ZHAW_Prometheus 0:a2603d7fa0ac 26
ZHAW_Prometheus 0:a2603d7fa0ac 27 virtual int8_t send(uint8_t *data, uint8_t len) {
ZHAW_Prometheus 0:a2603d7fa0ac 28 return I2C::write((int)m_addr, (char*)data, len);
ZHAW_Prometheus 0:a2603d7fa0ac 29 };
ZHAW_Prometheus 0:a2603d7fa0ac 30
ZHAW_Prometheus 0:a2603d7fa0ac 31
ZHAW_Prometheus 0:a2603d7fa0ac 32 private:
ZHAW_Prometheus 2:c3a866b20784 33 static const uint8_t PIXY_DEFAULT_ADDR = 0xAC;
ZHAW_Prometheus 0:a2603d7fa0ac 34 };
ZHAW_Prometheus 0:a2603d7fa0ac 35
ZHAW_Prometheus 2:c3a866b20784 36 #endif //PIXYLINKI2C_H