Erik Hatfield / pixylib

Port of Arduino Pixy Cmucam5 library

Dependents:   Robot_Control

Fork of pixy by Arcadie Cracan

Pixy.cpp@8:6cd36ded7c4e, 2016-03-13 (annotated)

Committer:
balsamfir
Date:
Sun Mar 13 14:23:33 2016 +0000
Revision:
8:6cd36ded7c4e
Parent:
7:57cbf91c2d46 
Fixed block reading bug

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;
balsamfir 3:cc3240a789e9 32 uint16_t w, checksum, sum, type;
balsamfir 4:6aa0f748a636 33 Block *block;;
acracan 0:ed8dc4531ac1 34 if (!skipStart) {
balsamfir 4:6aa0f748a636 35 if (getStart(&type) == false) {
acracan 0:ed8dc4531ac1 36 return 0;
balsamfir 2:be2c893fb5d5 37 }
balsamfir 2:be2c893fb5d5 38 } else {
acracan 0:ed8dc4531ac1 39 skipStart = false;
balsamfir 2:be2c893fb5d5 40 }
acracan 0:ed8dc4531ac1 41
acracan 0:ed8dc4531ac1 42 for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
balsamfir 4:6aa0f748a636 43
acracan 0:ed8dc4531ac1 44 checksum = m_link->getWord();
balsamfir 2:be2c893fb5d5 45 if ((checksum == PIXY_START_WORD)||(checksum == PIXY_START_WORD_CC)) {
acracan 0:ed8dc4531ac1 46 skipStart = true;
acracan 0:ed8dc4531ac1 47 return blockCount;
balsamfir 2:be2c893fb5d5 48 } else if (checksum == 0) {
acracan 0:ed8dc4531ac1 49 return blockCount;
balsamfir 2:be2c893fb5d5 50 }
acracan 0:ed8dc4531ac1 51
balsamfir 2:be2c893fb5d5 52 if (blockCount > blockArraySize) resize();
acracan 0:ed8dc4531ac1 53
acracan 0:ed8dc4531ac1 54 block = blocks + blockCount;
balsamfir 2:be2c893fb5d5 55
balsamfir 4:6aa0f748a636 56 *((uint16_t *)block) = type;
balsamfir 4:6aa0f748a636 57
balsamfir 2:be2c893fb5d5 58 for (i = 1, sum = 0; i < (sizeof(Block)/sizeof(uint16_t))-1; i++) {
balsamfir 2:be2c893fb5d5 59 w = m_link->getWord();
balsamfir 2:be2c893fb5d5 60 sum += w;
balsamfir 4:6aa0f748a636 61 *((int16_t *)block + i) = w;
balsamfir 2:be2c893fb5d5 62 }
balsamfir 2:be2c893fb5d5 63
balsamfir 2:be2c893fb5d5 64 // Read in the extra word if its a color code
balsamfir 4:6aa0f748a636 65 if (block->type == PIXY_START_WORD_CC) {
acracan 0:ed8dc4531ac1 66 w = m_link->getWord();
acracan 0:ed8dc4531ac1 67 sum += w;
acracan 0:ed8dc4531ac1 68 *((uint16_t *)block + i) = w;
acracan 0:ed8dc4531ac1 69 }
acracan 0:ed8dc4531ac1 70
balsamfir 2:be2c893fb5d5 71 if (checksum == sum) blockCount++;
balsamfir 6:f1c641be779e 72 else if (pc) pc->printf("cs error: csum: %d, sum: %d \n\r", checksum, sum);
balsamfir 8:6cd36ded7c4e 73
acracan 0:ed8dc4531ac1 74 }
acracan 0:ed8dc4531ac1 75 return blockCount;
acracan 0:ed8dc4531ac1 76 }
acracan 0:ed8dc4531ac1 77
acracan 0:ed8dc4531ac1 78 int8_t Pixy::setServos(uint16_t s0, uint16_t s1)
acracan 0:ed8dc4531ac1 79 {
acracan 0:ed8dc4531ac1 80 uint8_t outBuf[6];
acracan 0:ed8dc4531ac1 81
acracan 0:ed8dc4531ac1 82 outBuf[0] = 0x00;
acracan 0:ed8dc4531ac1 83 outBuf[1] = 0xff;
acracan 0:ed8dc4531ac1 84 *(uint16_t *)(outBuf + 2) = s0;
acracan 0:ed8dc4531ac1 85 *(uint16_t *)(outBuf + 4) = s1;
acracan 0:ed8dc4531ac1 86
acracan 0:ed8dc4531ac1 87 return m_link->send(outBuf, 6);
acracan 0:ed8dc4531ac1 88 }
acracan 0:ed8dc4531ac1 89
acracan 0:ed8dc4531ac1 90 void Pixy::setAddress(uint8_t addr)
acracan 0:ed8dc4531ac1 91 {
acracan 0:ed8dc4531ac1 92 m_link->setAddress(addr);
acracan 0:ed8dc4531ac1 93 }
acracan 0:ed8dc4531ac1 94
acracan 0:ed8dc4531ac1 95 void Pixy::setSerialOutput(Serial *pc)
acracan 0:ed8dc4531ac1 96 {
acracan 0:ed8dc4531ac1 97 this->pc = pc;
acracan 0:ed8dc4531ac1 98 }
acracan 0:ed8dc4531ac1 99
balsamfir 4:6aa0f748a636 100 bool Pixy::getStart(uint16_t *type)
acracan 0:ed8dc4531ac1 101 {
acracan 0:ed8dc4531ac1 102 uint16_t w, lastw;
acracan 0:ed8dc4531ac1 103
acracan 0:ed8dc4531ac1 104 lastw = 0xffff;
acracan 0:ed8dc4531ac1 105 while (true) {
acracan 0:ed8dc4531ac1 106 w = m_link->getWord();
acracan 0:ed8dc4531ac1 107 if (w == 0 && lastw == 0) {
acracan 0:ed8dc4531ac1 108 wait_ms(10);
acracan 0:ed8dc4531ac1 109 return false;
balsamfir 2:be2c893fb5d5 110 } else if ((w == PIXY_START_WORD || w == PIXY_START_WORD_CC) && lastw == PIXY_START_WORD) {
balsamfir 4:6aa0f748a636 111 *type = w;
acracan 0:ed8dc4531ac1 112 return true;
balsamfir 2:be2c893fb5d5 113 } else if (w == PIXY_START_WORDX) {
balsamfir 2:be2c893fb5d5 114 if (pc) pc->printf("reorder\n\r");
acracan 0:ed8dc4531ac1 115 m_link->getByte(); // resync
acracan 0:ed8dc4531ac1 116 }
acracan 0:ed8dc4531ac1 117 lastw = w;
acracan 0:ed8dc4531ac1 118 }
acracan 0:ed8dc4531ac1 119 }
acracan 0:ed8dc4531ac1 120
acracan 0:ed8dc4531ac1 121 void Pixy::resize()
acracan 0:ed8dc4531ac1 122 {
acracan 0:ed8dc4531ac1 123 Block *newBlocks;
acracan 0:ed8dc4531ac1 124 blockArraySize += PIXY_INITIAL_ARRAYSIZE;
acracan 0:ed8dc4531ac1 125 newBlocks = new Block[blockArraySize];
acracan 0:ed8dc4531ac1 126 memcpy(newBlocks, blocks, sizeof(Block) * blockCount);
acracan 0:ed8dc4531ac1 127 delete[] blocks;
acracan 0:ed8dc4531ac1 128 blocks = newBlocks;
acracan 0:ed8dc4531ac1 129 }