Qisi Wang / pixy

Minor modification to the original library to fit into our project

Fork of pixy by Arcadie Cracan

Pixy.cpp@1:910d941e3cc2, 2015-03-12 (annotated)

Committer:
CheeseW
Date:
Thu Mar 12 08:15:07 2015 +0000
Revision:
1:910d941e3cc2
Parent:
0:ed8dc4531ac1 
Minor modification to the original code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acracan 0:ed8dc4531ac1 1 #include "Pixy.h"
acracan 0:ed8dc4531ac1 2
acracan 0:ed8dc4531ac1 3 Pixy::Pixy(Pixy::LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk)
acracan 0:ed8dc4531ac1 4 {
acracan 0:ed8dc4531ac1 5 switch (linkType) {
acracan 0:ed8dc4531ac1 6 case SPI:
acracan 0:ed8dc4531ac1 7 m_link = new PixyLinkSPI(mosi_sda_tx, miso_scl_rx, sclk);
acracan 0:ed8dc4531ac1 8 break;
acracan 0:ed8dc4531ac1 9 case I2C:
acracan 0:ed8dc4531ac1 10 m_link = new PixyLinkI2C(mosi_sda_tx, miso_scl_rx);
acracan 0:ed8dc4531ac1 11 break;
acracan 0:ed8dc4531ac1 12 case UART:
acracan 0:ed8dc4531ac1 13 m_link = new PixyLinkUART(mosi_sda_tx, miso_scl_rx);
acracan 0:ed8dc4531ac1 14 break;
acracan 0:ed8dc4531ac1 15 };
acracan 0:ed8dc4531ac1 16 pc = 0;
acracan 0:ed8dc4531ac1 17 skipStart = false;
acracan 0:ed8dc4531ac1 18 blockCount = 0;
acracan 0:ed8dc4531ac1 19 blockArraySize = PIXY_INITIAL_ARRAYSIZE;
acracan 0:ed8dc4531ac1 20 blocks = new Block[blockArraySize];
acracan 0:ed8dc4531ac1 21 }
acracan 0:ed8dc4531ac1 22
acracan 0:ed8dc4531ac1 23 Pixy::~Pixy()
acracan 0:ed8dc4531ac1 24 {
acracan 0:ed8dc4531ac1 25 delete[] blocks;
acracan 0:ed8dc4531ac1 26 delete m_link;
acracan 0:ed8dc4531ac1 27 }
acracan 0:ed8dc4531ac1 28
acracan 0:ed8dc4531ac1 29 uint16_t Pixy::getBlocks(uint16_t maxBlocks)
acracan 0:ed8dc4531ac1 30 {
acracan 0:ed8dc4531ac1 31 uint8_t i;
acracan 0:ed8dc4531ac1 32 uint16_t w, checksum, sum;
CheeseW 1:910d941e3cc2 33 //Block *block;
acracan 0:ed8dc4531ac1 34
acracan 0:ed8dc4531ac1 35 if (!skipStart) {
acracan 0:ed8dc4531ac1 36 if (getStart() == false)
acracan 0:ed8dc4531ac1 37 return 0;
acracan 0:ed8dc4531ac1 38 } else
acracan 0:ed8dc4531ac1 39 skipStart = false;
CheeseW 1:910d941e3cc2 40 for (int i = 0; i < PIXY_INITIAL_ARRAYSIZE; i++)
CheeseW 1:910d941e3cc2 41 {
CheeseW 1:910d941e3cc2 42 blocks[i].width = 0;
CheeseW 1:910d941e3cc2 43 }
acracan 0:ed8dc4531ac1 44 for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
acracan 0:ed8dc4531ac1 45 checksum = m_link->getWord();
acracan 0:ed8dc4531ac1 46 if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame
acracan 0:ed8dc4531ac1 47 skipStart = true;
acracan 0:ed8dc4531ac1 48 //if (pc)
acracan 0:ed8dc4531ac1 49 // pc->printf("skip\n\r");
acracan 0:ed8dc4531ac1 50 return blockCount;
acracan 0:ed8dc4531ac1 51 } else if (checksum == 0)
acracan 0:ed8dc4531ac1 52 return blockCount;
acracan 0:ed8dc4531ac1 53
CheeseW 1:910d941e3cc2 54 //if (blockCount > blockArraySize)
CheeseW 1:910d941e3cc2 55 //resize();
CheeseW 1:910d941e3cc2 56
CheeseW 1:910d941e3cc2 57 //block = blocks + blockCount;
CheeseW 1:910d941e3cc2 58 uint16_t signature = m_link->getWord();
CheeseW 1:910d941e3cc2 59 uint16_t x = m_link->getWord();
CheeseW 1:910d941e3cc2 60 uint16_t y = m_link->getWord();
CheeseW 1:910d941e3cc2 61 uint16_t width = m_link->getWord();
CheeseW 1:910d941e3cc2 62 uint16_t height = m_link->getWord();
CheeseW 1:910d941e3cc2 63
CheeseW 1:910d941e3cc2 64 sum = signature + x +y + width + height;
acracan 0:ed8dc4531ac1 65
acracan 0:ed8dc4531ac1 66 if (checksum == sum)
CheeseW 1:910d941e3cc2 67 {
CheeseW 1:910d941e3cc2 68 blocks[signature-1].x = x;
CheeseW 1:910d941e3cc2 69 blocks[signature-1].y = y;
CheeseW 1:910d941e3cc2 70 blocks[signature-1].width = width;
CheeseW 1:910d941e3cc2 71 blocks[signature-1].height = height;
acracan 0:ed8dc4531ac1 72 blockCount++;
CheeseW 1:910d941e3cc2 73 }
acracan 0:ed8dc4531ac1 74 else if (pc)
acracan 0:ed8dc4531ac1 75 pc->printf("cs error\n\r");
acracan 0:ed8dc4531ac1 76
acracan 0:ed8dc4531ac1 77 w = m_link->getWord();
acracan 0:ed8dc4531ac1 78 if (w != PIXY_START_WORD)
acracan 0:ed8dc4531ac1 79 return blockCount;
acracan 0:ed8dc4531ac1 80 }
acracan 0:ed8dc4531ac1 81 return blockCount;
acracan 0:ed8dc4531ac1 82 }
acracan 0:ed8dc4531ac1 83
acracan 0:ed8dc4531ac1 84 int8_t Pixy::setServos(uint16_t s0, uint16_t s1)
acracan 0:ed8dc4531ac1 85 {
acracan 0:ed8dc4531ac1 86 uint8_t outBuf[6];
acracan 0:ed8dc4531ac1 87
acracan 0:ed8dc4531ac1 88 outBuf[0] = 0x00;
acracan 0:ed8dc4531ac1 89 outBuf[1] = 0xff;
acracan 0:ed8dc4531ac1 90 *(uint16_t *)(outBuf + 2) = s0;
acracan 0:ed8dc4531ac1 91 *(uint16_t *)(outBuf + 4) = s1;
acracan 0:ed8dc4531ac1 92
acracan 0:ed8dc4531ac1 93 return m_link->send(outBuf, 6);
acracan 0:ed8dc4531ac1 94 }
acracan 0:ed8dc4531ac1 95
acracan 0:ed8dc4531ac1 96 void Pixy::setAddress(uint8_t addr)
acracan 0:ed8dc4531ac1 97 {
acracan 0:ed8dc4531ac1 98 m_link->setAddress(addr);
acracan 0:ed8dc4531ac1 99 }
acracan 0:ed8dc4531ac1 100
acracan 0:ed8dc4531ac1 101 void Pixy::setSerialOutput(Serial *pc)
acracan 0:ed8dc4531ac1 102 {
acracan 0:ed8dc4531ac1 103 this->pc = pc;
acracan 0:ed8dc4531ac1 104 }
acracan 0:ed8dc4531ac1 105
acracan 0:ed8dc4531ac1 106 bool Pixy::getStart()
acracan 0:ed8dc4531ac1 107 {
acracan 0:ed8dc4531ac1 108 uint16_t w, lastw;
acracan 0:ed8dc4531ac1 109
acracan 0:ed8dc4531ac1 110 lastw = 0xffff;
acracan 0:ed8dc4531ac1 111 while (true) {
acracan 0:ed8dc4531ac1 112 w = m_link->getWord();
acracan 0:ed8dc4531ac1 113 if (w == 0 && lastw == 0) {
acracan 0:ed8dc4531ac1 114 wait_ms(10);
acracan 0:ed8dc4531ac1 115 return false;
acracan 0:ed8dc4531ac1 116 } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD)
acracan 0:ed8dc4531ac1 117 return true;
acracan 0:ed8dc4531ac1 118 else if (w == PIXY_START_WORDX) {
acracan 0:ed8dc4531ac1 119 if (pc)
acracan 0:ed8dc4531ac1 120 pc->printf("reorder\n\r");
acracan 0:ed8dc4531ac1 121 m_link->getByte(); // resync
acracan 0:ed8dc4531ac1 122 }
acracan 0:ed8dc4531ac1 123 lastw = w;
acracan 0:ed8dc4531ac1 124 }
acracan 0:ed8dc4531ac1 125 }
acracan 0:ed8dc4531ac1 126
acracan 0:ed8dc4531ac1 127 void Pixy::resize()
acracan 0:ed8dc4531ac1 128 {
acracan 0:ed8dc4531ac1 129 Block *newBlocks;
acracan 0:ed8dc4531ac1 130 blockArraySize += PIXY_INITIAL_ARRAYSIZE;
acracan 0:ed8dc4531ac1 131 newBlocks = new Block[blockArraySize];
acracan 0:ed8dc4531ac1 132 memcpy(newBlocks, blocks, sizeof(Block) * blockCount);
acracan 0:ed8dc4531ac1 133 delete[] blocks;
acracan 0:ed8dc4531ac1 134 blocks = newBlocks;
acracan 0:ed8dc4531ac1 135 }