Diff: Pixy.cpp

Revision:

0:4a23b84b733e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pixy.cpp	Wed May 17 13:08:18 2017 +0000
@@ -0,0 +1,125 @@
+#include "Pixy.h"
+
+Pixy::Pixy(Pixy::LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk)
+{
+    switch (linkType) {
+        case SPI:
+            m_link = new PixyLinkSPI(mosi_sda_tx, miso_scl_rx, sclk);
+            break;
+        case I2C:
+            m_link = new PixyLinkI2C(mosi_sda_tx, miso_scl_rx);
+            break;
+        case UART:
+            m_link = new PixyLinkUART(mosi_sda_tx, miso_scl_rx);
+            break;
+    };
+    pc = 0;
+    skipStart = false;
+    blockCount = 0;
+    blockArraySize = PIXY_INITIAL_ARRAYSIZE;
+    blocks = new Block[blockArraySize];
+}
+
+Pixy::~Pixy()
+{
+    delete[] blocks;
+    delete m_link;
+}
+
+uint16_t Pixy::getBlocks(uint16_t maxBlocks)
+{
+    uint8_t i;
+    uint16_t w, checksum, sum;
+    Block *block;
+
+    if (!skipStart) {
+        if (getStart() == false)
+            return 0;
+    } else
+        skipStart = false;
+
+    for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
+        checksum = m_link->getWord();
+        if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame
+            skipStart = true;
+            //if (pc)
+            //  pc->printf("skip\n\r");
+            return blockCount;
+        } else if (checksum == 0)
+            return blockCount;
+
+        if (blockCount > blockArraySize)
+            resize();
+
+        block = blocks + blockCount;
+
+        for (i = 0, sum = 0; i < sizeof(Block) / sizeof(uint16_t); i++) {
+            w = m_link->getWord();
+            sum += w;
+            *((uint16_t *)block + i) = w;
+        }
+
+        if (checksum == sum)
+            blockCount++;
+        else if (pc)
+            pc->printf("cs error\n\r");
+
+        w = m_link->getWord();
+        if (w != PIXY_START_WORD)
+            return blockCount;
+    }
+    return blockCount;
+}
+
+int8_t Pixy::setServos(uint16_t s0, uint16_t s1)
+{
+    uint8_t outBuf[6];
+
+    outBuf[0] = 0x00;
+    outBuf[1] = 0xff;
+    *(uint16_t *)(outBuf + 2) = s0;
+    *(uint16_t *)(outBuf + 4) = s1;
+
+    return m_link->send(outBuf, 6);
+}
+
+void Pixy::setAddress(uint8_t addr)
+{
+    m_link->setAddress(addr);
+}
+
+void Pixy::setSerialOutput(Serial *pc)
+{
+    this->pc = pc;
+}
+
+bool Pixy::getStart()
+{
+    uint16_t w, lastw;
+
+    lastw = 0xffff;
+    while (true) {
+        w = m_link->getWord();
+        if (w == 0 && lastw == 0) {
+            wait_ms(10);
+            return false;
+        } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD)
+            return true;
+        else if (w == PIXY_START_WORDX) {
+            if (pc)
+                pc->printf("reorder\n\r");
+            m_link->getByte(); // resync
+        }
+        lastw = w;
+    }
+}
+
+void Pixy::resize()
+{
+    Block *newBlocks;
+    blockArraySize += PIXY_INITIAL_ARRAYSIZE;
+    newBlocks = new Block[blockArraySize];
+    memcpy(newBlocks, blocks, sizeof(Block) * blockCount);
+    delete[] blocks;
+    blocks = newBlocks;
+}
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