Jonathan Goret / PixyLibrary

same

Dependents:   Nucleo_motors

Fork of PixyLibrary by Mathieu Malone

Pixy2.h@1:4b14159ab9bb, 2015-04-13 (annotated)

Committer:
johnylafleur
Date:
Mon Apr 13 12:32:52 2015 +0000
Revision:
1:4b14159ab9bb
Parent:
0:56a3009221d3 
Same library

Who changed what in which revision?

UserRevisionLine numberNew 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 /*
MBM 0:56a3009221d3 28 Pixy.h - Library for interfacing with Pixy.
MBM 0:56a3009221d3 29 Created by Scott Robinson, October 22, 2013.
MBM 0:56a3009221d3 30 Released into the public domain.
MBM 0:56a3009221d3 31
MBM 0:56a3009221d3 32 06.04.2014 v0.1.3 John Leimon
MBM 0:56a3009221d3 33 + LinkSPI.init() should be called from the setup()
MBM 0:56a3009221d3 34 function instead of being called automatically from
MBM 0:56a3009221d3 35 the TPixy<LinkSPI> constructor in global scope. This
MBM 0:56a3009221d3 36 is a workaround for a bug (?) in the Arduino DUE in which
MBM 0:56a3009221d3 37 calling SPI.begin() from global scope (via a constructor)
MBM 0:56a3009221d3 38 inhibits the operation of the Serial peripheral in the
MBM 0:56a3009221d3 39 DUE. [As of: Arduino 1.5.6-r2]
MBM 0:56a3009221d3 40 */
MBM 0:56a3009221d3 41
MBM 0:56a3009221d3 42 #ifndef PIXY_H2
MBM 0:56a3009221d3 43 #define PIXY_H2
MBM 0:56a3009221d3 44
MBM 0:56a3009221d3 45 #include "TPixy2.h"
MBM 0:56a3009221d3 46 #include "SPI2.h"
MBM 0:56a3009221d3 47
MBM 0:56a3009221d3 48
MBM 0:56a3009221d3 49 #define PIXY_SYNC_BYTE2 0x5a
MBM 0:56a3009221d3 50 #define PIXY_SYNC_BYTE_DATA2 0x5b
MBM 0:56a3009221d3 51 #define PIXY_OUTBUF_SIZE2 6
MBM 0:56a3009221d3 52
MBM 0:56a3009221d3 53 SPI spi2(p11, p12, p13); // mosi, miso, sclk
MBM 0:56a3009221d3 54
MBM 0:56a3009221d3 55 class LinkSPI2
MBM 0:56a3009221d3 56 {
MBM 0:56a3009221d3 57 public:
MBM 0:56a3009221d3 58 void init2()
MBM 0:56a3009221d3 59 {
MBM 0:56a3009221d3 60 outLen2 = 0;
MBM 0:56a3009221d3 61 #ifdef __SAM3X8E__
MBM 0:56a3009221d3 62 // DUE clock divider //
MBM 0:56a3009221d3 63 SPI.setClockDivider2(84);
MBM 0:56a3009221d3 64 #else
MBM 0:56a3009221d3 65 // Default clock divider //
MBM 0:56a3009221d3 66 //SPI.setClockDivider(SPI_CLOCK_DIV16);
MBM 0:56a3009221d3 67 #endif
MBM 0:56a3009221d3 68 }
MBM 0:56a3009221d3 69
MBM 0:56a3009221d3 70 uint16_t getWord2()
MBM 0:56a3009221d3 71 {
MBM 0:56a3009221d3 72 // ordering is different because Pixy is sending 16 bits through SPI
MBM 0:56a3009221d3 73 // instead of 2 bytes in a 16-bit word as with I2C
MBM 0:56a3009221d3 74 uint16_t w2;
MBM 0:56a3009221d3 75 uint8_t c2, count2 = 0;
MBM 0:56a3009221d3 76
MBM 0:56a3009221d3 77 if (outLen2)
MBM 0:56a3009221d3 78 {
MBM 0:56a3009221d3 79 w2 = spi2.write(PIXY_SYNC_BYTE_DATA2);
MBM 0:56a3009221d3 80 count2 = outBuf2[outIndex2++];
MBM 0:56a3009221d3 81 if (outIndex2==outLen2)
MBM 0:56a3009221d3 82 outLen2 = 0;
MBM 0:56a3009221d3 83 }
MBM 0:56a3009221d3 84 else
MBM 0:56a3009221d3 85 w2 = spi2.write(PIXY_SYNC_BYTE2);
MBM 0:56a3009221d3 86 w2 <<= 8;
MBM 0:56a3009221d3 87 c2 = spi2.write(count2);
MBM 0:56a3009221d3 88 w2 |= c2;
MBM 0:56a3009221d3 89
MBM 0:56a3009221d3 90 return w2;
MBM 0:56a3009221d3 91 }
MBM 0:56a3009221d3 92
MBM 0:56a3009221d3 93 uint8_t getByte2()
MBM 0:56a3009221d3 94 {
MBM 0:56a3009221d3 95 return spi2.write(0x00);
MBM 0:56a3009221d3 96 }
MBM 0:56a3009221d3 97
MBM 0:56a3009221d3 98 int8_t send(uint8_t *data2, uint8_t len2)
MBM 0:56a3009221d3 99 {
MBM 0:56a3009221d3 100 if (len2>PIXY_OUTBUF_SIZE2 || outLen2!=0)
MBM 0:56a3009221d3 101 return -1;
MBM 0:56a3009221d3 102 memcpy(outBuf2, data2, len2);
MBM 0:56a3009221d3 103 outLen2 = len2;
MBM 0:56a3009221d3 104 outIndex2 = 0;
MBM 0:56a3009221d3 105 return len2;
MBM 0:56a3009221d3 106 }
MBM 0:56a3009221d3 107
MBM 0:56a3009221d3 108 void setAddress2(uint8_t addr2)
MBM 0:56a3009221d3 109 {
MBM 0:56a3009221d3 110 addr_2 = addr2;
MBM 0:56a3009221d3 111 }
MBM 0:56a3009221d3 112
MBM 0:56a3009221d3 113 private:
MBM 0:56a3009221d3 114 uint8_t outBuf2[PIXY_OUTBUF_SIZE2];
MBM 0:56a3009221d3 115 uint8_t outLen2;
MBM 0:56a3009221d3 116 uint8_t outIndex2;
MBM 0:56a3009221d3 117 uint8_t addr_2;
MBM 0:56a3009221d3 118 };
MBM 0:56a3009221d3 119
MBM 0:56a3009221d3 120
MBM 0:56a3009221d3 121 typedef TPixy2<LinkSPI2> Pixy2;
MBM 0:56a3009221d3 122
MBM 0:56a3009221d3 123 #endif
MBM 0:56a3009221d3 124
MBM 0:56a3009221d3 125