Diff: PixyLinkSPI.h

Revision:

0:4a23b84b733e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PixyLinkSPI.h	Wed May 17 13:08:18 2017 +0000
@@ -0,0 +1,46 @@
+#ifndef TUIASI_PIXYLINKSPI_H
+#define TUIASI_PIXYLINKSPI_H
+
+#include "SPI.h"
+#include "PixyLink.h"
+
+class PixyLinkSPI : public PixyLink, private SPI
+{
+public:
+    PixyLinkSPI(PinName mosi, PinName miso, PinName sclk) :
+        SPI(mosi, miso, sclk), outLen(0), outIndex(0) {
+    };
+    
+    virtual uint16_t getWord() {
+        uint16_t w = ((uint16_t)getByte()) << 8;
+        return w | getByte();
+    };
+    
+    virtual uint8_t getByte() {
+        uint8_t c = 0x00;
+        if (outIndex < outLen) {
+            c = outBuf[outIndex++];
+        }
+        return write(c);
+    };
+
+    virtual int8_t send(uint8_t *data, uint8_t len) {
+        if (len > PIXY_OUTBUF_SIZE || outLen != 0)
+            return -1;
+        memcpy(outBuf, data, len);
+        outLen = len;
+        outIndex = 0;
+        return len;
+    };
+
+private:
+    static const uint8_t PIXY_OUTBUF_SIZE = 6;
+    static const uint8_t PIXY_SYNC_BYTE = 0x5a;
+    static const uint8_t PIXY_SYNC_BYTE_DATA = 0x5b;
+
+    uint8_t outBuf[PIXY_OUTBUF_SIZE];
+    uint8_t outLen;
+    uint8_t outIndex;
+
+};
+#endif //TUIASI_PIXYLINKSPI_H
\ No newline at end of file