Diff: pixy.h

Revision:

0:1b99a0bee9e0

Child:

1:439c7574a5ee

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pixy.h	Mon Jun 02 21:02:09 2014 +0000
@@ -0,0 +1,43 @@
+#pragma once
+#include "mbed.h"
+
+//a class to aid in SPI communication with the pixy camera
+
+//this details the object block format of returned data as described in
+//http://www.cmucam.org/projects/cmucam5/wiki/Pixy_Serial_Protocol
+
+struct objectBlock {
+    short sync; //spi sync data
+    short checksum; //the sum of everything BELOW this
+    short signature; //signature number of detection
+    short xcenter; //x center pixrl position of block
+    short ycenter; //y center pixel position of block
+    short width; //width of detection in pixels
+    short height; //height of detection in pixels
+};
+
+//blatantly stole this from their code
+struct Block 
+{
+  uint16_t signature;
+  uint16_t x;
+  uint16_t y;
+  uint16_t width;
+  uint16_t height;
+};
+
+class pixySPI
+{
+private:
+    SPI* spi;
+    Serial* debug;
+    //SPI spi(p5, p6, p7); // mosi, miso, sclk
+    short sync; //the block signature. 16 bits
+    short readTwoBytesLSB();
+    void readNBytes(char* buf, int num);
+public:
+    pixySPI(PinName mosi,PinName miso,PinName sclk, Serial* ser);
+    ~pixySPI();
+    Block getBlock(Serial* debug);
+    char getRawData();
+};
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