File content as of revision 10:b1bdc51e1c50:

//
// 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