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Pixy1.h
- Committer:
- MBM
- Date:
- 2014-08-12
- Revision:
- 0:56a3009221d3
File content as of revision 0:56a3009221d3:
//-------------------------------------------------------------------------------------------- //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_H1 #define PIXY_H1 #include "TPixy1.h" #include "SPI1.h" #define PIXY_SYNC_BYTE1 0x5a #define PIXY_SYNC_BYTE_DATA1 0x5b #define PIXY_OUTBUF_SIZE1 6 SPI spi1(p5, p6, p7); // mosi, miso, sclk class LinkSPI1 { public: void init1() { outLen1 = 0; #ifdef __SAM3X8E__ // DUE clock divider // SPI1.setClockDivider1(84); #else // Default clock divider // //SPI.setClockDivider(SPI_CLOCK_DIV16); #endif } uint16_t getWord1() { // 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 w1; uint8_t c1, count1 = 0; if (outLen1) { w1 = spi1.write(PIXY_SYNC_BYTE_DATA1); count1 = outBuf1[outIndex1++]; if (outIndex1==outLen1) outLen1 = 0; } else w1 = spi1.write(PIXY_SYNC_BYTE1); w1 <<= 8; c1 = spi1.write(count1); w1 |= c1; return w1; } uint8_t getByte1() { return spi1.write(0x00); } int8_t send(uint8_t *data1, uint8_t len1) { if (len1>PIXY_OUTBUF_SIZE1 || outLen1!=0) return -1; memcpy(outBuf1, data1, len1); outLen1 = len1; outIndex1 = 0; return len1; } void setAddress1(uint8_t addr1) { addr_1 = addr1; } private: uint8_t outBuf1[PIXY_OUTBUF_SIZE1]; uint8_t outLen1; uint8_t outIndex1; uint8_t addr_1; }; typedef TPixy1<LinkSPI1> Pixy1; #endif