Mathieu Malone
/
PixyLibrary
Library used to initialize and to communicate with the CMUcam5 Pixy
iserial1.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?
User | Revision | Line number | New 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 | #ifndef _ISERIAL_H1 |
MBM | 0:56a3009221d3 | 28 | #define _ISERIAL_H1 |
MBM | 0:56a3009221d3 | 29 | |
MBM | 0:56a3009221d3 | 30 | typedef uint32_t (*SerialCallback1)(uint8_t *data1, uint32_t len1); |
MBM | 0:56a3009221d3 | 31 | |
MBM | 0:56a3009221d3 | 32 | // circular queue, for receiving data |
MBM | 0:56a3009221d3 | 33 | template <class BufType1> class ReceiveQ1 |
MBM | 0:56a3009221d3 | 34 | { |
MBM | 0:56a3009221d3 | 35 | public: |
MBM | 0:56a3009221d3 | 36 | ReceiveQ1(uint32_t size1) |
MBM | 0:56a3009221d3 | 37 | { |
MBM | 0:56a3009221d3 | 38 | m_size1 = size1; |
MBM | 0:56a3009221d3 | 39 | m_buf1 = new BufType1[m_size1]; |
MBM | 0:56a3009221d3 | 40 | m_read1 = 0; |
MBM | 0:56a3009221d3 | 41 | m_write1 = 0; |
MBM | 0:56a3009221d3 | 42 | m_produced1 = 0; |
MBM | 0:56a3009221d3 | 43 | m_consumed1 = 0; |
MBM | 0:56a3009221d3 | 44 | } |
MBM | 0:56a3009221d3 | 45 | |
MBM | 0:56a3009221d3 | 46 | ~ReceiveQ1() |
MBM | 0:56a3009221d3 | 47 | { |
MBM | 0:56a3009221d3 | 48 | delete [] m_buf1; |
MBM | 0:56a3009221d3 | 49 | } |
MBM | 0:56a3009221d3 | 50 | |
MBM | 0:56a3009221d3 | 51 | inline int32_t receiveLen1() |
MBM | 0:56a3009221d3 | 52 | { |
MBM | 0:56a3009221d3 | 53 | return m_produced1 - m_consumed1; |
MBM | 0:56a3009221d3 | 54 | } |
MBM | 0:56a3009221d3 | 55 | |
MBM | 0:56a3009221d3 | 56 | inline int32_t freeLen1() |
MBM | 0:56a3009221d3 | 57 | { |
MBM | 0:56a3009221d3 | 58 | return m_size1 - receiveLen1(); |
MBM | 0:56a3009221d3 | 59 | } |
MBM | 0:56a3009221d3 | 60 | |
MBM | 0:56a3009221d3 | 61 | inline int read(BufType1 *data1) |
MBM | 0:56a3009221d3 | 62 | { |
MBM | 0:56a3009221d3 | 63 | if (receiveLen1()<=0) |
MBM | 0:56a3009221d3 | 64 | return 0; |
MBM | 0:56a3009221d3 | 65 | *data1 = m_buf1[m_read1++]; |
MBM | 0:56a3009221d3 | 66 | m_consumed1++; |
MBM | 0:56a3009221d3 | 67 | |
MBM | 0:56a3009221d3 | 68 | if (m_read1==m_size1) |
MBM | 0:56a3009221d3 | 69 | m_read1 = 0; |
MBM | 0:56a3009221d3 | 70 | |
MBM | 0:56a3009221d3 | 71 | return 1; |
MBM | 0:56a3009221d3 | 72 | } |
MBM | 0:56a3009221d3 | 73 | |
MBM | 0:56a3009221d3 | 74 | inline int write(BufType1 data1) |
MBM | 0:56a3009221d3 | 75 | { |
MBM | 0:56a3009221d3 | 76 | if (freeLen1()<=0) |
MBM | 0:56a3009221d3 | 77 | return 0; |
MBM | 0:56a3009221d3 | 78 | |
MBM | 0:56a3009221d3 | 79 | m_buf1[m_write1++] = data1; |
MBM | 0:56a3009221d3 | 80 | m_produced1++; |
MBM | 0:56a3009221d3 | 81 | |
MBM | 0:56a3009221d3 | 82 | if (m_write1==m_size1) |
MBM | 0:56a3009221d3 | 83 | m_write1 = 0; |
MBM | 0:56a3009221d3 | 84 | |
MBM | 0:56a3009221d3 | 85 | return 1; |
MBM | 0:56a3009221d3 | 86 | } |
MBM | 0:56a3009221d3 | 87 | |
MBM | 0:56a3009221d3 | 88 | uint32_t m_size1; |
MBM | 0:56a3009221d3 | 89 | BufType1 *m_buf1; |
MBM | 0:56a3009221d3 | 90 | uint32_t m_read1; |
MBM | 0:56a3009221d3 | 91 | uint32_t m_write1; |
MBM | 0:56a3009221d3 | 92 | uint32_t m_produced1; |
MBM | 0:56a3009221d3 | 93 | uint32_t m_consumed1; |
MBM | 0:56a3009221d3 | 94 | }; |
MBM | 0:56a3009221d3 | 95 | |
MBM | 0:56a3009221d3 | 96 | |
MBM | 0:56a3009221d3 | 97 | // linear queue, to buffer a chunk and dispense it out |
MBM | 0:56a3009221d3 | 98 | template <class BufType1> class TransmitQ1 |
MBM | 0:56a3009221d3 | 99 | { |
MBM | 0:56a3009221d3 | 100 | public: |
MBM | 0:56a3009221d3 | 101 | TransmitQ1(uint32_t size1, SerialCallback1 callback1) |
MBM | 0:56a3009221d3 | 102 | { |
MBM | 0:56a3009221d3 | 103 | m_size1 = size1; |
MBM | 0:56a3009221d3 | 104 | m_buf1 = new BufType1[m_size1]; |
MBM | 0:56a3009221d3 | 105 | m_read1 = 0; |
MBM | 0:56a3009221d3 | 106 | m_len1 = 0; |
MBM | 0:56a3009221d3 | 107 | m_callback1 = callback1; |
MBM | 0:56a3009221d3 | 108 | } |
MBM | 0:56a3009221d3 | 109 | |
MBM | 0:56a3009221d3 | 110 | ~TransmitQ1() |
MBM | 0:56a3009221d3 | 111 | { |
MBM | 0:56a3009221d3 | 112 | delete [] m_buf1; |
MBM | 0:56a3009221d3 | 113 | } |
MBM | 0:56a3009221d3 | 114 | |
MBM | 0:56a3009221d3 | 115 | int read(BufType1 *data1) |
MBM | 0:56a3009221d3 | 116 | { |
MBM | 0:56a3009221d3 | 117 | if (m_len1==0) |
MBM | 0:56a3009221d3 | 118 | { |
MBM | 0:56a3009221d3 | 119 | m_len1 = (*m_callback1)((uint8_t *)m_buf1, m_size1*sizeof(BufType1))/sizeof(BufType1); |
MBM | 0:56a3009221d3 | 120 | if (m_len1==0) |
MBM | 0:56a3009221d3 | 121 | return 0; |
MBM | 0:56a3009221d3 | 122 | m_read1 = 0; |
MBM | 0:56a3009221d3 | 123 | } |
MBM | 0:56a3009221d3 | 124 | *data1 = m_buf1[m_read1++]; |
MBM | 0:56a3009221d3 | 125 | m_len1--; |
MBM | 0:56a3009221d3 | 126 | |
MBM | 0:56a3009221d3 | 127 | return 1; |
MBM | 0:56a3009221d3 | 128 | } |
MBM | 0:56a3009221d3 | 129 | |
MBM | 0:56a3009221d3 | 130 | uint32_t m_size1; |
MBM | 0:56a3009221d3 | 131 | BufType1 *m_buf1; |
MBM | 0:56a3009221d3 | 132 | uint32_t m_read1; |
MBM | 0:56a3009221d3 | 133 | uint32_t m_len1; |
MBM | 0:56a3009221d3 | 134 | SerialCallback1 m_callback1; |
MBM | 0:56a3009221d3 | 135 | }; |
MBM | 0:56a3009221d3 | 136 | |
MBM | 0:56a3009221d3 | 137 | // virtual interface to a serial device |
MBM | 0:56a3009221d3 | 138 | class Iserial1 |
MBM | 0:56a3009221d3 | 139 | { |
MBM | 0:56a3009221d3 | 140 | public: |
MBM | 0:56a3009221d3 | 141 | virtual int open() |
MBM | 0:56a3009221d3 | 142 | { |
MBM | 0:56a3009221d3 | 143 | return 0; |
MBM | 0:56a3009221d3 | 144 | } |
MBM | 0:56a3009221d3 | 145 | virtual int close() |
MBM | 0:56a3009221d3 | 146 | { |
MBM | 0:56a3009221d3 | 147 | return 0; |
MBM | 0:56a3009221d3 | 148 | } |
MBM | 0:56a3009221d3 | 149 | virtual int receive(uint8_t *buf1, uint32_t len1) |
MBM | 0:56a3009221d3 | 150 | { |
MBM | 0:56a3009221d3 | 151 | return 0; |
MBM | 0:56a3009221d3 | 152 | } |
MBM | 0:56a3009221d3 | 153 | virtual int receiveLen1() |
MBM | 0:56a3009221d3 | 154 | { |
MBM | 0:56a3009221d3 | 155 | return 0; |
MBM | 0:56a3009221d3 | 156 | } |
MBM | 0:56a3009221d3 | 157 | virtual int update1() |
MBM | 0:56a3009221d3 | 158 | { |
MBM | 0:56a3009221d3 | 159 | return 0; |
MBM | 0:56a3009221d3 | 160 | } |
MBM | 0:56a3009221d3 | 161 | }; |
MBM | 0:56a3009221d3 | 162 | |
MBM | 0:56a3009221d3 | 163 | #endif |