Diff: Pixy2.h

Revision:

0:56a3009221d3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Pixy2.h	Tue Aug 12 11:01:31 2014 +0000
@@ -0,0 +1,125 @@
+//--------------------------------------------------------------------------------------------
+//Original Property of: charmedlabs.com/pixystart -> arduino_pixy-x.y.z.zip 
+//
+//Modifications made by: Mathieu Malone
+//Modifications: Modified Arduino code to function with mbed development platform
+//Output Method: This program uses "Serial pc(USBTX, USBRX)" in order to allow communication
+//               between the mbed platform and putty terminal through USB
+//
+//Latest update by: Mathieu Malone
+//Date of last update: July 24th, 2014
+//--------------------------------------------------------------------------------------------
+//
+// begin license header
+//
+// This file is part of Pixy CMUcam5 or "Pixy" for short
+//
+// All Pixy source code is provided under the terms of the
+// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
+// Those wishing to use Pixy source code, software and/or
+// technologies under different licensing terms should contact us at
+// cmucam@cs.cmu.edu. Such licensing terms are available for
+// all portions of the Pixy codebase presented here.
+//
+// end license header
+//
+
+/*
+  Pixy.h - Library for interfacing with Pixy.
+  Created by Scott Robinson, October 22, 2013.
+  Released into the public domain.
+
+  06.04.2014 v0.1.3 John Leimon 
+    + LinkSPI.init() should be called from the setup() 
+      function instead of being called automatically from
+      the TPixy<LinkSPI> constructor in global scope. This
+      is a workaround for a bug (?) in the Arduino DUE in which
+      calling SPI.begin() from global scope (via a constructor)
+      inhibits the operation of the Serial peripheral in the
+      DUE. [As of: Arduino 1.5.6-r2]
+*/
+
+#ifndef PIXY_H2
+#define PIXY_H2
+
+#include "TPixy2.h"
+#include "SPI2.h"
+
+
+#define PIXY_SYNC_BYTE2              0x5a
+#define PIXY_SYNC_BYTE_DATA2         0x5b
+#define PIXY_OUTBUF_SIZE2            6
+
+SPI spi2(p11, p12, p13); // mosi, miso, sclk
+
+class LinkSPI2
+{
+  public:
+    void init2()
+    {
+      outLen2 = 0;
+      #ifdef __SAM3X8E__
+      // DUE clock divider //
+      SPI.setClockDivider2(84);
+      #else
+      // Default clock divider //
+      //SPI.setClockDivider(SPI_CLOCK_DIV16);
+      #endif
+    }
+    
+    uint16_t getWord2()
+    {
+      // ordering is different because Pixy is sending 16 bits through SPI 
+      // instead of 2 bytes in a 16-bit word as with I2C
+      uint16_t w2;
+      uint8_t c2, count2 = 0;
+
+      if (outLen2)
+      {
+        w2 = spi2.write(PIXY_SYNC_BYTE_DATA2);
+        count2 = outBuf2[outIndex2++];
+        if (outIndex2==outLen2)
+          outLen2 = 0; 
+      }
+      else
+        w2 = spi2.write(PIXY_SYNC_BYTE2);
+      w2 <<= 8;
+      c2 = spi2.write(count2);
+      w2 |= c2;
+
+      return w2;
+    }
+
+    uint8_t getByte2()
+    {
+      return spi2.write(0x00);
+    }
+    
+    int8_t send(uint8_t *data2, uint8_t len2)
+    {
+      if (len2>PIXY_OUTBUF_SIZE2 || outLen2!=0)
+        return -1;
+      memcpy(outBuf2, data2, len2);
+      outLen2 = len2;
+      outIndex2 = 0;
+      return len2;
+    }
+
+    void setAddress2(uint8_t addr2)
+    {
+      addr_2 = addr2;
+    }
+
+  private:
+    uint8_t outBuf2[PIXY_OUTBUF_SIZE2];
+    uint8_t outLen2;
+    uint8_t outIndex2;
+    uint8_t addr_2;
+};
+
+
+typedef TPixy2<LinkSPI2> Pixy2;
+
+#endif
+
+