Erik Hatfield / pixylib

Port of Arduino Pixy Cmucam5 library

Dependents:   Robot_Control

Fork of pixy by Arcadie Cracan

Pixy.cpp@3:cc3240a789e9, 2016-02-29 (annotated)

Committer:
balsamfir
Date:
Mon Feb 29 17:32:35 2016 +0000
Revision:
3:cc3240a789e9
Parent:
2:be2c893fb5d5
Child:
4:6aa0f748a636
Prototype library

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;
acracan 0:ed8dc4531ac1 33 Block *block;
acracan 0:ed8dc4531ac1 34
acracan 0:ed8dc4531ac1 35 if (!skipStart) {
balsamfir 2:be2c893fb5d5 36 if (getStart() == false) {
balsamfir 2:be2c893fb5d5 37 pc->printf("fuck1 \n\r");
acracan 0:ed8dc4531ac1 38 return 0;
balsamfir 2:be2c893fb5d5 39 }
balsamfir 2:be2c893fb5d5 40 } else {
acracan 0:ed8dc4531ac1 41 skipStart = false;
balsamfir 2:be2c893fb5d5 42 }
acracan 0:ed8dc4531ac1 43
acracan 0:ed8dc4531ac1 44 for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
balsamfir 2:be2c893fb5d5 45 pc->printf("tick \n\r");
acracan 0:ed8dc4531ac1 46 checksum = m_link->getWord();
balsamfir 2:be2c893fb5d5 47 if ((checksum == PIXY_START_WORD)||(checksum == PIXY_START_WORD_CC)) {
balsamfir 2:be2c893fb5d5 48 *((uint16_t *)block) = checksum; // Set the type to the checksum
acracan 0:ed8dc4531ac1 49 skipStart = true;
balsamfir 2:be2c893fb5d5 50 pc->printf("fuck2 \n\r");
acracan 0:ed8dc4531ac1 51 return blockCount;
balsamfir 2:be2c893fb5d5 52 } else if (checksum == 0) {
balsamfir 2:be2c893fb5d5 53 pc->printf("fuck3 \n\r");
acracan 0:ed8dc4531ac1 54 return blockCount;
balsamfir 2:be2c893fb5d5 55 }
acracan 0:ed8dc4531ac1 56
balsamfir 2:be2c893fb5d5 57 if (blockCount > blockArraySize) resize();
acracan 0:ed8dc4531ac1 58
acracan 0:ed8dc4531ac1 59 block = blocks + blockCount;
balsamfir 2:be2c893fb5d5 60
balsamfir 2:be2c893fb5d5 61 for (i = 1, sum = 0; i < (sizeof(Block)/sizeof(uint16_t))-1; i++) {
balsamfir 2:be2c893fb5d5 62 w = m_link->getWord();
balsamfir 2:be2c893fb5d5 63 sum += w;
balsamfir 2:be2c893fb5d5 64 *((uint16_t *)block + i) = w;
balsamfir 2:be2c893fb5d5 65 }
balsamfir 2:be2c893fb5d5 66
balsamfir 2:be2c893fb5d5 67 // Read in the extra word if its a color code
balsamfir 2:be2c893fb5d5 68 if (checksum == PIXY_START_WORD_CC) {
acracan 0:ed8dc4531ac1 69 w = m_link->getWord();
acracan 0:ed8dc4531ac1 70 sum += w;
acracan 0:ed8dc4531ac1 71 *((uint16_t *)block + i) = w;
acracan 0:ed8dc4531ac1 72 }
acracan 0:ed8dc4531ac1 73
balsamfir 2:be2c893fb5d5 74 if (checksum == sum) blockCount++;
balsamfir 2:be2c893fb5d5 75 else if (pc) pc->printf("cs error: csum: %04x, sum: %04x \n\r", checksum, sum);
balsamfir 2:be2c893fb5d5 76
acracan 0:ed8dc4531ac1 77 }
balsamfir 2:be2c893fb5d5 78 pc->printf("fuck4 \n\r");
acracan 0:ed8dc4531ac1 79 return blockCount;
acracan 0:ed8dc4531ac1 80 }
acracan 0:ed8dc4531ac1 81
acracan 0:ed8dc4531ac1 82 int8_t Pixy::setServos(uint16_t s0, uint16_t s1)
acracan 0:ed8dc4531ac1 83 {
acracan 0:ed8dc4531ac1 84 uint8_t outBuf[6];
acracan 0:ed8dc4531ac1 85
acracan 0:ed8dc4531ac1 86 outBuf[0] = 0x00;
acracan 0:ed8dc4531ac1 87 outBuf[1] = 0xff;
acracan 0:ed8dc4531ac1 88 *(uint16_t *)(outBuf + 2) = s0;
acracan 0:ed8dc4531ac1 89 *(uint16_t *)(outBuf + 4) = s1;
acracan 0:ed8dc4531ac1 90
acracan 0:ed8dc4531ac1 91 return m_link->send(outBuf, 6);
acracan 0:ed8dc4531ac1 92 }
acracan 0:ed8dc4531ac1 93
acracan 0:ed8dc4531ac1 94 void Pixy::setAddress(uint8_t addr)
acracan 0:ed8dc4531ac1 95 {
acracan 0:ed8dc4531ac1 96 m_link->setAddress(addr);
acracan 0:ed8dc4531ac1 97 }
acracan 0:ed8dc4531ac1 98
acracan 0:ed8dc4531ac1 99 void Pixy::setSerialOutput(Serial *pc)
acracan 0:ed8dc4531ac1 100 {
acracan 0:ed8dc4531ac1 101 this->pc = pc;
acracan 0:ed8dc4531ac1 102 }
acracan 0:ed8dc4531ac1 103
acracan 0:ed8dc4531ac1 104 bool Pixy::getStart()
acracan 0:ed8dc4531ac1 105 {
acracan 0:ed8dc4531ac1 106 uint16_t w, lastw;
acracan 0:ed8dc4531ac1 107
acracan 0:ed8dc4531ac1 108 lastw = 0xffff;
acracan 0:ed8dc4531ac1 109 while (true) {
acracan 0:ed8dc4531ac1 110 w = m_link->getWord();
balsamfir 2:be2c893fb5d5 111 //pc->printf("word: %04x \r\n", w);
acracan 0:ed8dc4531ac1 112 if (w == 0 && lastw == 0) {
acracan 0:ed8dc4531ac1 113 wait_ms(10);
acracan 0:ed8dc4531ac1 114 return false;
balsamfir 2:be2c893fb5d5 115 } else if ((w == PIXY_START_WORD || w == PIXY_START_WORD_CC) && lastw == PIXY_START_WORD) {
acracan 0:ed8dc4531ac1 116 return true;
balsamfir 2:be2c893fb5d5 117 } else if (w == PIXY_START_WORDX) {
balsamfir 2:be2c893fb5d5 118 if (pc) pc->printf("reorder\n\r");
acracan 0:ed8dc4531ac1 119 m_link->getByte(); // resync
acracan 0:ed8dc4531ac1 120 }
acracan 0:ed8dc4531ac1 121 lastw = w;
acracan 0:ed8dc4531ac1 122 }
acracan 0:ed8dc4531ac1 123 }
acracan 0:ed8dc4531ac1 124
acracan 0:ed8dc4531ac1 125 void Pixy::resize()
acracan 0:ed8dc4531ac1 126 {
acracan 0:ed8dc4531ac1 127 Block *newBlocks;
acracan 0:ed8dc4531ac1 128 blockArraySize += PIXY_INITIAL_ARRAYSIZE;
acracan 0:ed8dc4531ac1 129 newBlocks = new Block[blockArraySize];
acracan 0:ed8dc4531ac1 130 memcpy(newBlocks, blocks, sizeof(Block) * blockCount);
acracan 0:ed8dc4531ac1 131 delete[] blocks;
acracan 0:ed8dc4531ac1 132 blocks = newBlocks;
acracan 0:ed8dc4531ac1 133 }