Shurjo Banerjee / pixy

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Fork of pixy by Qisi Wang

Pixy.cpp@0:ed8dc4531ac1, 2014-11-16 (annotated)

Committer:
acracan
Date:
Sun Nov 16 11:52:55 2014 +0000
Revision:
0:ed8dc4531ac1
Child:
1:910d941e3cc2
Initial commit of ported version of the Arduino Pixy Cmucam5 library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acracan 0:ed8dc4531ac1 1 #include "Pixy.h"
acracan 0:ed8dc4531ac1 2
acracan 0:ed8dc4531ac1 3 Pixy::Pixy(Pixy::LinkType linkType, PinName mosi_sda_tx, PinName miso_scl_rx, PinName sclk)
acracan 0:ed8dc4531ac1 4 {
acracan 0:ed8dc4531ac1 5 switch (linkType) {
acracan 0:ed8dc4531ac1 6 case SPI:
acracan 0:ed8dc4531ac1 7 m_link = new PixyLinkSPI(mosi_sda_tx, miso_scl_rx, sclk);
acracan 0:ed8dc4531ac1 8 break;
acracan 0:ed8dc4531ac1 9 case I2C:
acracan 0:ed8dc4531ac1 10 m_link = new PixyLinkI2C(mosi_sda_tx, miso_scl_rx);
acracan 0:ed8dc4531ac1 11 break;
acracan 0:ed8dc4531ac1 12 case UART:
acracan 0:ed8dc4531ac1 13 m_link = new PixyLinkUART(mosi_sda_tx, miso_scl_rx);
acracan 0:ed8dc4531ac1 14 break;
acracan 0:ed8dc4531ac1 15 };
acracan 0:ed8dc4531ac1 16 pc = 0;
acracan 0:ed8dc4531ac1 17 skipStart = false;
acracan 0:ed8dc4531ac1 18 blockCount = 0;
acracan 0:ed8dc4531ac1 19 blockArraySize = PIXY_INITIAL_ARRAYSIZE;
acracan 0:ed8dc4531ac1 20 blocks = new Block[blockArraySize];
acracan 0:ed8dc4531ac1 21 }
acracan 0:ed8dc4531ac1 22
acracan 0:ed8dc4531ac1 23 Pixy::~Pixy()
acracan 0:ed8dc4531ac1 24 {
acracan 0:ed8dc4531ac1 25 delete[] blocks;
acracan 0:ed8dc4531ac1 26 delete m_link;
acracan 0:ed8dc4531ac1 27 }
acracan 0:ed8dc4531ac1 28
acracan 0:ed8dc4531ac1 29 uint16_t Pixy::getBlocks(uint16_t maxBlocks)
acracan 0:ed8dc4531ac1 30 {
acracan 0:ed8dc4531ac1 31 uint8_t i;
acracan 0:ed8dc4531ac1 32 uint16_t w, checksum, sum;
acracan 0:ed8dc4531ac1 33 Block *block;
acracan 0:ed8dc4531ac1 34
acracan 0:ed8dc4531ac1 35 if (!skipStart) {
acracan 0:ed8dc4531ac1 36 if (getStart() == false)
acracan 0:ed8dc4531ac1 37 return 0;
acracan 0:ed8dc4531ac1 38 } else
acracan 0:ed8dc4531ac1 39 skipStart = false;
acracan 0:ed8dc4531ac1 40
acracan 0:ed8dc4531ac1 41 for (blockCount = 0; blockCount < maxBlocks && blockCount < PIXY_MAXIMUM_ARRAYSIZE;) {
acracan 0:ed8dc4531ac1 42 checksum = m_link->getWord();
acracan 0:ed8dc4531ac1 43 if (checksum == PIXY_START_WORD) { // we've reached the beginning of the next frame
acracan 0:ed8dc4531ac1 44 skipStart = true;
acracan 0:ed8dc4531ac1 45 //if (pc)
acracan 0:ed8dc4531ac1 46 // pc->printf("skip\n\r");
acracan 0:ed8dc4531ac1 47 return blockCount;
acracan 0:ed8dc4531ac1 48 } else if (checksum == 0)
acracan 0:ed8dc4531ac1 49 return blockCount;
acracan 0:ed8dc4531ac1 50
acracan 0:ed8dc4531ac1 51 if (blockCount > blockArraySize)
acracan 0:ed8dc4531ac1 52 resize();
acracan 0:ed8dc4531ac1 53
acracan 0:ed8dc4531ac1 54 block = blocks + blockCount;
acracan 0:ed8dc4531ac1 55
acracan 0:ed8dc4531ac1 56 for (i = 0, sum = 0; i < sizeof(Block) / sizeof(uint16_t); i++) {
acracan 0:ed8dc4531ac1 57 w = m_link->getWord();
acracan 0:ed8dc4531ac1 58 sum += w;
acracan 0:ed8dc4531ac1 59 *((uint16_t *)block + i) = w;
acracan 0:ed8dc4531ac1 60 }
acracan 0:ed8dc4531ac1 61
acracan 0:ed8dc4531ac1 62 if (checksum == sum)
acracan 0:ed8dc4531ac1 63 blockCount++;
acracan 0:ed8dc4531ac1 64 else if (pc)
acracan 0:ed8dc4531ac1 65 pc->printf("cs error\n\r");
acracan 0:ed8dc4531ac1 66
acracan 0:ed8dc4531ac1 67 w = m_link->getWord();
acracan 0:ed8dc4531ac1 68 if (w != PIXY_START_WORD)
acracan 0:ed8dc4531ac1 69 return blockCount;
acracan 0:ed8dc4531ac1 70 }
acracan 0:ed8dc4531ac1 71 return blockCount;
acracan 0:ed8dc4531ac1 72 }
acracan 0:ed8dc4531ac1 73
acracan 0:ed8dc4531ac1 74 int8_t Pixy::setServos(uint16_t s0, uint16_t s1)
acracan 0:ed8dc4531ac1 75 {
acracan 0:ed8dc4531ac1 76 uint8_t outBuf[6];
acracan 0:ed8dc4531ac1 77
acracan 0:ed8dc4531ac1 78 outBuf[0] = 0x00;
acracan 0:ed8dc4531ac1 79 outBuf[1] = 0xff;
acracan 0:ed8dc4531ac1 80 *(uint16_t *)(outBuf + 2) = s0;
acracan 0:ed8dc4531ac1 81 *(uint16_t *)(outBuf + 4) = s1;
acracan 0:ed8dc4531ac1 82
acracan 0:ed8dc4531ac1 83 return m_link->send(outBuf, 6);
acracan 0:ed8dc4531ac1 84 }
acracan 0:ed8dc4531ac1 85
acracan 0:ed8dc4531ac1 86 void Pixy::setAddress(uint8_t addr)
acracan 0:ed8dc4531ac1 87 {
acracan 0:ed8dc4531ac1 88 m_link->setAddress(addr);
acracan 0:ed8dc4531ac1 89 }
acracan 0:ed8dc4531ac1 90
acracan 0:ed8dc4531ac1 91 void Pixy::setSerialOutput(Serial *pc)
acracan 0:ed8dc4531ac1 92 {
acracan 0:ed8dc4531ac1 93 this->pc = pc;
acracan 0:ed8dc4531ac1 94 }
acracan 0:ed8dc4531ac1 95
acracan 0:ed8dc4531ac1 96 bool Pixy::getStart()
acracan 0:ed8dc4531ac1 97 {
acracan 0:ed8dc4531ac1 98 uint16_t w, lastw;
acracan 0:ed8dc4531ac1 99
acracan 0:ed8dc4531ac1 100 lastw = 0xffff;
acracan 0:ed8dc4531ac1 101 while (true) {
acracan 0:ed8dc4531ac1 102 w = m_link->getWord();
acracan 0:ed8dc4531ac1 103 if (w == 0 && lastw == 0) {
acracan 0:ed8dc4531ac1 104 wait_ms(10);
acracan 0:ed8dc4531ac1 105 return false;
acracan 0:ed8dc4531ac1 106 } else if (w == PIXY_START_WORD && lastw == PIXY_START_WORD)
acracan 0:ed8dc4531ac1 107 return true;
acracan 0:ed8dc4531ac1 108 else if (w == PIXY_START_WORDX) {
acracan 0:ed8dc4531ac1 109 if (pc)
acracan 0:ed8dc4531ac1 110 pc->printf("reorder\n\r");
acracan 0:ed8dc4531ac1 111 m_link->getByte(); // resync
acracan 0:ed8dc4531ac1 112 }
acracan 0:ed8dc4531ac1 113 lastw = w;
acracan 0:ed8dc4531ac1 114 }
acracan 0:ed8dc4531ac1 115 }
acracan 0:ed8dc4531ac1 116
acracan 0:ed8dc4531ac1 117 void Pixy::resize()
acracan 0:ed8dc4531ac1 118 {
acracan 0:ed8dc4531ac1 119 Block *newBlocks;
acracan 0:ed8dc4531ac1 120 blockArraySize += PIXY_INITIAL_ARRAYSIZE;
acracan 0:ed8dc4531ac1 121 newBlocks = new Block[blockArraySize];
acracan 0:ed8dc4531ac1 122 memcpy(newBlocks, blocks, sizeof(Block) * blockCount);
acracan 0:ed8dc4531ac1 123 delete[] blocks;
acracan 0:ed8dc4531ac1 124 blocks = newBlocks;
acracan 0:ed8dc4531ac1 125 }