Diff: TPixyInterface.cpp

Revision:

5:d109b094d4bb

Parent:

4:478d4d9193a1

--- a/TPixyInterface.cpp	Mon Aug 23 11:26:37 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,113 +0,0 @@
-#include "TPixyInterface.h"
-
-PixyInterfaceSPI::PixyInterfaceSPI(SPI* interface) : TPixyInterface(), spi(interface) {}
-
-void PixyInterfaceSPI::init()
-{
-    spi->frequency(1000000);
-}
-
-uint16_t PixyInterfaceSPI::getWord()
-{
-    // ordering is different (big endian) because Pixy is sending 16 bits through SPI
-    // instead of 2 bytes in a 16-bit word as with I2C
-    uint16_t w;
-    if (inQ.read(&w)) {
-        return w;
-    }
-    return getWordHw();
-}
-
-uint8_t PixyInterfaceSPI::getByte()
-{
-    //return SPI.transfer(0x00);
-    return spi->write(0x00);
-}
-
-int8_t PixyInterfaceSPI::send(uint8_t *data, uint8_t len)
-{
-    int i;
-    // check to see if we have enough space in our circular queue
-    if (outQ.freeLen() < len) {
-        return -1;
-    }
-    for (i = 0; i < len; i++) {
-        outQ.write(data[i]);
-    }
-    flushSend();
-    return len;
-}
-
-void PixyInterfaceSPI::setArg(uint16_t arg) {}
-
-uint16_t PixyInterfaceSPI::getWordHw()
-{
-    // ordering is different (big endian) because Pixy is sending 16 bits through SPI
-    // instead of 2 bytes in a 16-bit word as with I2C
-    uint16_t w;
-    uint8_t c, c_out = 0;
-
-    if (outQ.read(&c_out)) {
-        w = spi->write(PIXY_SYNC_BYTE_DATA);
-        //w = SPI.transfer(PIXY_SYNC_BYTE_DATA);
-    } else {
-        w = spi->write(PIXY_SYNC_BYTE);
-        //w = SPI.transfer(PIXY_SYNC_BYTE);
-    }
-    w <<= 8;
-    c = spi->write(c_out);
-    //c = SPI.transfer(cout);
-    w |= c;
-    return w;
-}
-
-void PixyInterfaceSPI::flushSend()
-{
-    uint16_t w;
-    while(outQ.len) {
-        w = getWordHw();
-        inQ.write(w);
-    }
-}
-
-
-
-
-template <class BufType> CircularQ<BufType>::CircularQ()
-{
-    len = 0;
-    writeIndex = 0;
-    readIndex = 0;
-}
-
-template <class BufType> bool CircularQ<BufType>::read(BufType *c)
-{
-    if (len) {
-        *c = buf[readIndex++];
-        len--;
-        if (readIndex == PIXY_BUF_SIZE) {
-            readIndex = 0;
-        }
-        return true;
-    } else {
-        return false;
-    }
-}
-
-template <class BufType> uint8_t CircularQ<BufType>::freeLen()
-{
-    return PIXY_BUF_SIZE - len;
-}
-
-template <class BufType> bool CircularQ<BufType>::write(BufType c)
-{
-    if (freeLen() == 0) {
-        return false;
-    }
-    buf[writeIndex++] = c;
-    len++;
-    if (writeIndex == PIXY_BUF_SIZE) {
-        writeIndex = 0;
-    }
-    return true;
-}
\ No newline at end of file