Mathieu Malone / Mbed 2 deprecated PixyLibrary

Library used to initialize and to communicate with the CMUcam5 Pixy

Dependencies:   mbed

Dependents:   PixyStereoCam

Pixy1.h@0:56a3009221d3, 2014-08-12 (annotated)

Committer:
MBM
Date:
Tue Aug 12 11:01:31 2014 +0000
Revision:
0:56a3009221d3
The PixyLibrary was created from the Arduino libraries for the CMUcam5 Pixy found on http://cmucam.org/projects/cmucam5/files.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MBM 0:56a3009221d3 1 //--------------------------------------------------------------------------------------------
MBM 0:56a3009221d3 2 //Original Property of: charmedlabs.com/pixystart -> arduino_pixy-x.y.z.zip
MBM 0:56a3009221d3 3 //
MBM 0:56a3009221d3 4 //Modifications made by: Mathieu Malone
MBM 0:56a3009221d3 5 //Modifications: Modified Arduino code to function with mbed development platform
MBM 0:56a3009221d3 6 //Output Method: This program uses "Serial pc(USBTX, USBRX)" in order to allow communication
MBM 0:56a3009221d3 7 // between the mbed platform and putty terminal through USB
MBM 0:56a3009221d3 8 //
MBM 0:56a3009221d3 9 //Latest update by: Mathieu Malone
MBM 0:56a3009221d3 10 //Date of last update: July 24th, 2014
MBM 0:56a3009221d3 11 //--------------------------------------------------------------------------------------------
MBM 0:56a3009221d3 12 //
MBM 0:56a3009221d3 13 // begin license header
MBM 0:56a3009221d3 14 //
MBM 0:56a3009221d3 15 // This file is part of Pixy CMUcam5 or "Pixy" for short
MBM 0:56a3009221d3 16 //
MBM 0:56a3009221d3 17 // All Pixy source code is provided under the terms of the
MBM 0:56a3009221d3 18 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
MBM 0:56a3009221d3 19 // Those wishing to use Pixy source code, software and/or
MBM 0:56a3009221d3 20 // technologies under different licensing terms should contact us at
MBM 0:56a3009221d3 21 // cmucam@cs.cmu.edu. Such licensing terms are available for
MBM 0:56a3009221d3 22 // all portions of the Pixy codebase presented here.
MBM 0:56a3009221d3 23 //
MBM 0:56a3009221d3 24 // end license header
MBM 0:56a3009221d3 25 //
MBM 0:56a3009221d3 26
MBM 0:56a3009221d3 27 /*
MBM 0:56a3009221d3 28 Pixy.h - Library for interfacing with Pixy.
MBM 0:56a3009221d3 29 Created by Scott Robinson, October 22, 2013.
MBM 0:56a3009221d3 30 Released into the public domain.
MBM 0:56a3009221d3 31
MBM 0:56a3009221d3 32 06.04.2014 v0.1.3 John Leimon
MBM 0:56a3009221d3 33 + LinkSPI.init() should be called from the setup()
MBM 0:56a3009221d3 34 function instead of being called automatically from
MBM 0:56a3009221d3 35 the TPixy<LinkSPI> constructor in global scope. This
MBM 0:56a3009221d3 36 is a workaround for a bug (?) in the Arduino DUE in which
MBM 0:56a3009221d3 37 calling SPI.begin() from global scope (via a constructor)
MBM 0:56a3009221d3 38 inhibits the operation of the Serial peripheral in the
MBM 0:56a3009221d3 39 DUE. [As of: Arduino 1.5.6-r2]
MBM 0:56a3009221d3 40 */
MBM 0:56a3009221d3 41
MBM 0:56a3009221d3 42 #ifndef PIXY_H1
MBM 0:56a3009221d3 43 #define PIXY_H1
MBM 0:56a3009221d3 44
MBM 0:56a3009221d3 45 #include "TPixy1.h"
MBM 0:56a3009221d3 46 #include "SPI1.h"
MBM 0:56a3009221d3 47
MBM 0:56a3009221d3 48
MBM 0:56a3009221d3 49 #define PIXY_SYNC_BYTE1 0x5a
MBM 0:56a3009221d3 50 #define PIXY_SYNC_BYTE_DATA1 0x5b
MBM 0:56a3009221d3 51 #define PIXY_OUTBUF_SIZE1 6
MBM 0:56a3009221d3 52
MBM 0:56a3009221d3 53 SPI spi1(p5, p6, p7); // mosi, miso, sclk
MBM 0:56a3009221d3 54
MBM 0:56a3009221d3 55 class LinkSPI1
MBM 0:56a3009221d3 56 {
MBM 0:56a3009221d3 57 public:
MBM 0:56a3009221d3 58 void init1()
MBM 0:56a3009221d3 59 {
MBM 0:56a3009221d3 60 outLen1 = 0;
MBM 0:56a3009221d3 61 #ifdef __SAM3X8E__
MBM 0:56a3009221d3 62 // DUE clock divider //
MBM 0:56a3009221d3 63 SPI1.setClockDivider1(84);
MBM 0:56a3009221d3 64 #else
MBM 0:56a3009221d3 65 // Default clock divider //
MBM 0:56a3009221d3 66 //SPI.setClockDivider(SPI_CLOCK_DIV16);
MBM 0:56a3009221d3 67 #endif
MBM 0:56a3009221d3 68 }
MBM 0:56a3009221d3 69
MBM 0:56a3009221d3 70 uint16_t getWord1()
MBM 0:56a3009221d3 71 {
MBM 0:56a3009221d3 72 // ordering is different because Pixy is sending 16 bits through SPI
MBM 0:56a3009221d3 73 // instead of 2 bytes in a 16-bit word as with I2C
MBM 0:56a3009221d3 74 uint16_t w1;
MBM 0:56a3009221d3 75 uint8_t c1, count1 = 0;
MBM 0:56a3009221d3 76
MBM 0:56a3009221d3 77 if (outLen1)
MBM 0:56a3009221d3 78 {
MBM 0:56a3009221d3 79 w1 = spi1.write(PIXY_SYNC_BYTE_DATA1);
MBM 0:56a3009221d3 80 count1 = outBuf1[outIndex1++];
MBM 0:56a3009221d3 81 if (outIndex1==outLen1)
MBM 0:56a3009221d3 82 outLen1 = 0;
MBM 0:56a3009221d3 83 }
MBM 0:56a3009221d3 84 else
MBM 0:56a3009221d3 85 w1 = spi1.write(PIXY_SYNC_BYTE1);
MBM 0:56a3009221d3 86 w1 <<= 8;
MBM 0:56a3009221d3 87 c1 = spi1.write(count1);
MBM 0:56a3009221d3 88 w1 |= c1;
MBM 0:56a3009221d3 89
MBM 0:56a3009221d3 90 return w1;
MBM 0:56a3009221d3 91 }
MBM 0:56a3009221d3 92
MBM 0:56a3009221d3 93 uint8_t getByte1()
MBM 0:56a3009221d3 94 {
MBM 0:56a3009221d3 95 return spi1.write(0x00);
MBM 0:56a3009221d3 96 }
MBM 0:56a3009221d3 97
MBM 0:56a3009221d3 98 int8_t send(uint8_t *data1, uint8_t len1)
MBM 0:56a3009221d3 99 {
MBM 0:56a3009221d3 100 if (len1>PIXY_OUTBUF_SIZE1 || outLen1!=0)
MBM 0:56a3009221d3 101 return -1;
MBM 0:56a3009221d3 102 memcpy(outBuf1, data1, len1);
MBM 0:56a3009221d3 103 outLen1 = len1;
MBM 0:56a3009221d3 104 outIndex1 = 0;
MBM 0:56a3009221d3 105 return len1;
MBM 0:56a3009221d3 106 }
MBM 0:56a3009221d3 107
MBM 0:56a3009221d3 108 void setAddress1(uint8_t addr1)
MBM 0:56a3009221d3 109 {
MBM 0:56a3009221d3 110 addr_1 = addr1;
MBM 0:56a3009221d3 111 }
MBM 0:56a3009221d3 112
MBM 0:56a3009221d3 113 private:
MBM 0:56a3009221d3 114 uint8_t outBuf1[PIXY_OUTBUF_SIZE1];
MBM 0:56a3009221d3 115 uint8_t outLen1;
MBM 0:56a3009221d3 116 uint8_t outIndex1;
MBM 0:56a3009221d3 117 uint8_t addr_1;
MBM 0:56a3009221d3 118 };
MBM 0:56a3009221d3 119
MBM 0:56a3009221d3 120
MBM 0:56a3009221d3 121 typedef TPixy1<LinkSPI1> Pixy1;
MBM 0:56a3009221d3 122
MBM 0:56a3009221d3 123 #endif
MBM 0:56a3009221d3 124
MBM 0:56a3009221d3 125
MBM 0:56a3009221d3 126