PixyLinkSPI.h

00001 #ifndef TUIASI_PIXYLINKSPI_H
00002 #define TUIASI_PIXYLINKSPI_H
00003 
00004 #include "SPI.h"
00005 #include "PixyLink.h"
00006 
00007 class PixyLinkSPI : public PixyLink, private SPI
00008 {
00009 public:
00010     PixyLinkSPI(PinName mosi, PinName miso, PinName sclk) :
00011         SPI(mosi, miso, sclk), outLen(0), outIndex(0) {
00012     };
00013     
00014     virtual uint16_t getWord() {
00015         uint16_t w = ((uint16_t)getByte()) << 8;
00016         return w | getByte();
00017     };
00018     
00019     virtual uint8_t getByte() {
00020         uint8_t c = 0x00;
00021         if (outIndex < outLen) {
00022             c = outBuf[outIndex++];
00023         }
00024         return write(c);
00025     };
00026 
00027     virtual int8_t send(uint8_t *data, uint8_t len) {
00028         if (len > PIXY_OUTBUF_SIZE || outLen != 0)
00029             return -1;
00030         memcpy(outBuf, data, len);
00031         outLen = len;
00032         outIndex = 0;
00033         return len;
00034     };
00035 
00036 private:
00037     static const uint8_t PIXY_OUTBUF_SIZE = 6;
00038     static const uint8_t PIXY_SYNC_BYTE = 0x5a;
00039     static const uint8_t PIXY_SYNC_BYTE_DATA = 0x5b;
00040 
00041     uint8_t outBuf[PIXY_OUTBUF_SIZE];
00042     uint8_t outLen;
00043     uint8_t outIndex;
00044 
00045 };
00046 #endif //TUIASI_PIXYLINKSPI_H