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Diff: Pixy.cpp
- Revision:
- 0:ed8dc4531ac1
- Child:
- 1:a4c25c179e7a
diff -r 000000000000 -r ed8dc4531ac1 Pixy.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Pixy.cpp Sun Nov 16 11:52:55 2014 +0000 @@ -0,0 +1,125 @@ +#include "Pixy.h" + +Pixy::Pixy(Pixy::LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk) +{ + switch (linkType) { + case SPI: + m_link = new PixyLinkSPI(mosi_sda_tx, miso_scl_rx, sclk); + break; + case I2C: + m_link = new PixyLinkI2C(mosi_sda_tx, miso_scl_rx); + break; + case UART: + m_link = new PixyLinkUART(mosi_sda_tx, miso_scl_rx); + break; + }; + pc = 0; + skipStart = false; + blockCount = 0; + blockArraySize = PIXY_INITIAL_ARRAYSIZE; + blocks = new Block[blockArraySize]; +} + +Pixy::~Pixy() +{ + delete[] blocks; + delete m_link; +} + +uint16_t Pixy::getBlocks(uint16_t maxBlocks) +{ + uint8_t i; + uint16_t w, checksum, sum; + Block *block; + + if (!skipStart) { + if (getStart() == false) + return 0; + } else + skipStart = false; + + for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) { + checksum = m_link->getWord(); + if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame + skipStart = true; + //if (pc) + // pc->printf("skip\n\r"); + return blockCount; + } else if (checksum == 0) + return blockCount; + + if (blockCount > blockArraySize) + resize(); + + block = blocks + blockCount; + + for (i = 0, sum = 0; i < sizeof(Block) / sizeof(uint16_t); i++) { + w = m_link->getWord(); + sum += w; + *((uint16_t *)block + i) = w; + } + + if (checksum == sum) + blockCount++; + else if (pc) + pc->printf("cs error\n\r"); + + w = m_link->getWord(); + if (w != PIXY_START_WORD) + return blockCount; + } + return blockCount; +} + +int8_t Pixy::setServos(uint16_t s0, uint16_t s1) +{ + uint8_t outBuf[6]; + + outBuf[0] = 0x00; + outBuf[1] = 0xff; + *(uint16_t *)(outBuf + 2) = s0; + *(uint16_t *)(outBuf + 4) = s1; + + return m_link->send(outBuf, 6); +} + +void Pixy::setAddress(uint8_t addr) +{ + m_link->setAddress(addr); +} + +void Pixy::setSerialOutput(Serial *pc) +{ + this->pc = pc; +} + +bool Pixy::getStart() +{ + uint16_t w, lastw; + + lastw = 0xffff; + while (true) { + w = m_link->getWord(); + if (w == 0 && lastw == 0) { + wait_ms(10); + return false; + } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD) + return true; + else if (w == PIXY_START_WORDX) { + if (pc) + pc->printf("reorder\n\r"); + m_link->getByte(); // resync + } + lastw = w; + } +} + +void Pixy::resize() +{ + Block *newBlocks; + blockArraySize += PIXY_INITIAL_ARRAYSIZE; + newBlocks = new Block[blockArraySize]; + memcpy(newBlocks, blocks, sizeof(Block) * blockCount); + delete[] blocks; + blocks = newBlocks; +} \ No newline at end of file