Diff: pixy2/Pixy2.h

Revision:

10:b1bdc51e1c50

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pixy2/Pixy2.h	Tue Nov 24 14:26:05 2020 +0000
@@ -0,0 +1,82 @@
+//
+// 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
+//
+// Arduino ICSP SPI link class
+
+#ifndef _PIXY2_H
+#define _PIXY2_H
+
+#include "TPixy2.h"
+#include "mbed.h"
+
+#define PIXY_SPI_CLOCKRATE 2000000
+
+class Link2SPI {
+public:
+    Link2SPI() {
+        spi = new SPI(p5, p6, p7);
+    }
+
+    Link2SPI(SPI *spi) {
+        this->spi = spi;
+    }
+
+    int8_t open(uint32_t arg)
+    {
+        spi->format(8, 3);
+        spi->frequency(PIXY_SPI_CLOCKRATE);
+
+        return 0;
+    }
+
+    void close()
+    {
+    }
+
+    int16_t recv(uint8_t* buf, uint8_t len, uint16_t* cs = NULL)
+    {
+        uint8_t i;
+
+        if (cs) {
+            *cs = 0;
+        }
+        for (i = 0; i < len; i++) {
+            buf[i] = spi->write(0x00);
+            if (cs) {
+                *cs += buf[i];
+            }
+        }
+
+        return len;
+    }
+
+    int16_t send(uint8_t* buf, uint8_t len)
+    {
+        uint8_t i;
+
+        for (i = 0; i < len; i++) {
+            spi->write(buf[i]);
+        }
+
+        return len;
+    }
+
+private:
+    SPI *spi;
+};
+
+typedef TPixy2<Link2SPI> Pixy2;
+
+#endif
+