78 lines
1.7 KiB
C++
78 lines
1.7 KiB
C++
//
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// begin license header
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//
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// This file is part of Pixy CMUcam5 or "Pixy" for short
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//
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// All Pixy source code is provided under the terms of the
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// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
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// Those wishing to use Pixy source code, software and/or
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// technologies under different licensing terms should contact us at
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// cmucam@cs.cmu.edu. Such licensing terms are available for
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// all portions of the Pixy codebase presented here.
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//
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// end license header
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//
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// This file is for defining the link class for I2C communications.
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//
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// Note, the PixyI2C class takes an optional argument, which is the I2C address
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// of the Pixy you want to talk to. The default address is 0x54 (used when no
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// argument is used.) So, for example, if you wished to talk to Pixy at I2C
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// address 0x55, declare like this:
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//
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// PixyI2C pixy(0x55);
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//
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#ifndef _PIXYI2C_H
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#define _PIXYI2C_H
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#include "TPixy.h"
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#include "Wire.h"
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#define PIXY_I2C_DEFAULT_ADDR 0x54
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class LinkI2C
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{
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public:
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void init()
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{
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Wire.begin();
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}
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void setArg(uint16_t arg)
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{
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if (arg==PIXY_DEFAULT_ARGVAL)
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addr = PIXY_I2C_DEFAULT_ADDR;
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else
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addr = arg;
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}
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uint16_t getWord()
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{
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uint16_t w;
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uint8_t c;
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Wire.requestFrom((int)addr, 2);
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c = Wire.read();
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w = Wire.read();
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w <<= 8;
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w |= c;
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return w;
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}
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uint8_t getByte()
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{
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Wire.requestFrom((int)addr, 1);
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return Wire.read();
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}
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int8_t send(uint8_t *data, uint8_t len)
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{
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Wire.beginTransmission(addr);
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Wire.write(data, len);
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Wire.endTransmission();
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return len;
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}
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private:
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uint8_t addr;
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};
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typedef TPixy<LinkI2C> PixyI2C;
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#endif
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