Mathieu Malone
/
PixyLibrary
Library used to initialize and to communicate with the CMUcam5 Pixy
Diff: Pixy2.h
- Revision:
- 0:56a3009221d3
diff -r 000000000000 -r 56a3009221d3 Pixy2.h --- /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 + +