Alexandre Pirotte / pixy_ok

programme ok

Fork of pixy by Arcadie Cracan

PixyLinkSPI.h@1:a4c25c179e7a, 2017-06-23 (annotated)

Committer:
pirottealex
Date:
Fri Jun 23 11:18:38 2017 +0000
Revision:
1:a4c25c179e7a
Parent:
0:ed8dc4531ac1 
version ok;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acracan 0:ed8dc4531ac1 1 #ifndef TUIASI_PIXYLINKSPI_H
acracan 0:ed8dc4531ac1 2 #define TUIASI_PIXYLINKSPI_H
acracan 0:ed8dc4531ac1 3
acracan 0:ed8dc4531ac1 4 #include "SPI.h"
acracan 0:ed8dc4531ac1 5 #include "PixyLink.h"
acracan 0:ed8dc4531ac1 6
acracan 0:ed8dc4531ac1 7 class PixyLinkSPI : public PixyLink, private SPI
acracan 0:ed8dc4531ac1 8 {
acracan 0:ed8dc4531ac1 9 public:
acracan 0:ed8dc4531ac1 10 PixyLinkSPI(PinName mosi, PinName miso, PinName sclk) :
acracan 0:ed8dc4531ac1 11 SPI(mosi, miso, sclk), outLen(0), outIndex(0) {
acracan 0:ed8dc4531ac1 12 };
acracan 0:ed8dc4531ac1 13
acracan 0:ed8dc4531ac1 14 virtual uint16_t getWord() {
acracan 0:ed8dc4531ac1 15 uint16_t w = ((uint16_t)getByte()) << 8;
acracan 0:ed8dc4531ac1 16 return w | getByte();
acracan 0:ed8dc4531ac1 17 };
acracan 0:ed8dc4531ac1 18
acracan 0:ed8dc4531ac1 19 virtual uint8_t getByte() {
acracan 0:ed8dc4531ac1 20 uint8_t c = 0x00;
acracan 0:ed8dc4531ac1 21 if (outIndex < outLen) {
acracan 0:ed8dc4531ac1 22 c = outBuf[outIndex++];
acracan 0:ed8dc4531ac1 23 }
acracan 0:ed8dc4531ac1 24 return write(c);
acracan 0:ed8dc4531ac1 25 };
acracan 0:ed8dc4531ac1 26
acracan 0:ed8dc4531ac1 27 virtual int8_t send(uint8_t *data, uint8_t len) {
acracan 0:ed8dc4531ac1 28 if (len > PIXY_OUTBUF_SIZE || outLen != 0)
acracan 0:ed8dc4531ac1 29 return -1;
acracan 0:ed8dc4531ac1 30 memcpy(outBuf, data, len);
acracan 0:ed8dc4531ac1 31 outLen = len;
acracan 0:ed8dc4531ac1 32 outIndex = 0;
acracan 0:ed8dc4531ac1 33 return len;
acracan 0:ed8dc4531ac1 34 };
acracan 0:ed8dc4531ac1 35
acracan 0:ed8dc4531ac1 36 private:
acracan 0:ed8dc4531ac1 37 static const uint8_t PIXY_OUTBUF_SIZE = 6;
acracan 0:ed8dc4531ac1 38 static const uint8_t PIXY_SYNC_BYTE = 0x5a;
acracan 0:ed8dc4531ac1 39 static const uint8_t PIXY_SYNC_BYTE_DATA = 0x5b;
acracan 0:ed8dc4531ac1 40
acracan 0:ed8dc4531ac1 41 uint8_t outBuf[PIXY_OUTBUF_SIZE];
acracan 0:ed8dc4531ac1 42 uint8_t outLen;
acracan 0:ed8dc4531ac1 43 uint8_t outIndex;
acracan 0:ed8dc4531ac1 44
acracan 0:ed8dc4531ac1 45 };
acracan 0:ed8dc4531ac1 46 #endif //TUIASI_PIXYLINKSPI_H