jetfishteam / pixy_cam

an SPI interface the cmu pixy camera

Dependents:   robotic_fish_ver_4_9_pixy UMO

pixy.h@1:439c7574a5ee, 2014-06-02 (annotated)

Committer:
sandwich
Date:
Mon Jun 02 21:30:22 2014 +0000
Revision:
1:439c7574a5ee
Parent:
0:1b99a0bee9e0
Child:
2:fc86438b206f
removed unused struct

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:1b99a0bee9e0 1 #pragma once
sandwich 0:1b99a0bee9e0 2 #include "mbed.h"
sandwich 0:1b99a0bee9e0 3
sandwich 0:1b99a0bee9e0 4 //a class to aid in SPI communication with the pixy camera
sandwich 0:1b99a0bee9e0 5
sandwich 0:1b99a0bee9e0 6 //this details the object block format of returned data as described in
sandwich 0:1b99a0bee9e0 7 //http://www.cmucam.org/projects/cmucam5/wiki/Pixy_Serial_Protocol
sandwich 0:1b99a0bee9e0 8
sandwich 0:1b99a0bee9e0 9 //blatantly stole this from their code
sandwich 0:1b99a0bee9e0 10 struct Block
sandwich 0:1b99a0bee9e0 11 {
sandwich 0:1b99a0bee9e0 12 uint16_t signature;
sandwich 0:1b99a0bee9e0 13 uint16_t x;
sandwich 0:1b99a0bee9e0 14 uint16_t y;
sandwich 0:1b99a0bee9e0 15 uint16_t width;
sandwich 0:1b99a0bee9e0 16 uint16_t height;
sandwich 0:1b99a0bee9e0 17 };
sandwich 0:1b99a0bee9e0 18
sandwich 0:1b99a0bee9e0 19 class pixySPI
sandwich 0:1b99a0bee9e0 20 {
sandwich 0:1b99a0bee9e0 21 private:
sandwich 0:1b99a0bee9e0 22 SPI* spi;
sandwich 0:1b99a0bee9e0 23 Serial* debug;
sandwich 0:1b99a0bee9e0 24 //SPI spi(p5, p6, p7); // mosi, miso, sclk
sandwich 0:1b99a0bee9e0 25 short sync; //the block signature. 16 bits
sandwich 0:1b99a0bee9e0 26 short readTwoBytesLSB();
sandwich 0:1b99a0bee9e0 27 void readNBytes(char* buf, int num);
sandwich 0:1b99a0bee9e0 28 public:
sandwich 0:1b99a0bee9e0 29 pixySPI(PinName mosi,PinName miso,PinName sclk, Serial* ser);
sandwich 0:1b99a0bee9e0 30 ~pixySPI();
sandwich 0:1b99a0bee9e0 31 Block getBlock(Serial* debug);
sandwich 0:1b99a0bee9e0 32 char getRawData();
sandwich 0:1b99a0bee9e0 33 };