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SPI read Pixi Cam V1
Diff: TPixyInterface.h
- Revision:
- 5:d109b094d4bb
- Parent:
- 4:478d4d9193a1
--- a/TPixyInterface.h Mon Aug 23 11:26:37 2021 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,141 +0,0 @@ -// -// begin license header -// -// This file is part of Pixy CMUcam5 or "Pixy" for short -// -// All Pixy source code is provided under the terms of the -// GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). -// Those wishing to use Pixy source code, software and/or -// technologies under different licensing terms should contact us at -// cmucam@cs.cmu.edu. Such licensing terms are available for -// all portions of the Pixy codebase presented here. -// -// end license header -// -// This file is for defining the SPI-related classes. It's called Pixy.h instead -// of Pixy_SPI.h because it's the default/recommended communication method -// with Arduino. This class assumes you are using the ICSP connector to talk to -// Pixy from your Arduino. For more information go to: -// -//http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Microcontroller_(like_an_Arduino) -// - -#ifndef _TPIXY_INTERFACE_H -#define _TPIXY_INTERFACE_H - -#include "TPixy.h" - -#define PIXY_SYNC_BYTE 0x5a -#define PIXY_SYNC_BYTE_DATA 0x5b -#define PIXY_BUF_SIZE 16 - -/** An interface for communicating between the Pixy and a specific hardware interface - */ -class TPixyInterface -{ -public: - /** Creates a TPixyInterface - */ - TPixyInterface() {} - /** Initializes a TPixyInterface - */ - virtual void init() = 0; - /** Sends the given data to the Pixy with a given data length - * @param data the data to send - * @param len the length of the data to send - * @return the interface return signal - */ - virtual int8_t send(uint8_t *data, uint8_t len) = 0; - /** Sets an argument for the interface to use - * @param arg the argument to use - */ - virtual void setArg(uint16_t arg) = 0; - /** Reads a word from the interface - * @return the word read from the interface - */ - virtual uint16_t getWord() = 0; - /** Reads a byte from the interface - * @return the byte read from the interface - */ - virtual uint8_t getByte() = 0; -}; - - -template <class BufType> class CircularQ -{ -public: - BufType buf[PIXY_BUF_SIZE]; - uint8_t len; - uint8_t writeIndex; - uint8_t readIndex; - - CircularQ(); - bool read(BufType *c); - uint8_t freeLen(); - bool write(BufType c); -}; - -/** An interface for communicating between the Pixy via an SPI interface - */ -class PixyInterfaceSPI : TPixyInterface -{ -public: - SPI* spi; - /** Constructs a PixyInterfaceSPI object - * @param interface the SPI pointer - */ - PixyInterfaceSPI(SPI* interface); - /** Initializes the PixyInterfaceSPI - */ - virtual void init(); - /** Reads a word from the interface - * @return the word read from the interface - */ - virtual uint16_t getWord(); - /** Reads a byte from the interface - * @return the byte read from the interface - */ - virtual uint8_t getByte(); - /** Sends the given data to the Pixy with a given data length - * @param data the data to send - * @param len the length of the data to send - * @return the interface return signal - */ - virtual int8_t send(uint8_t *data, uint8_t len); - /** Sets an argument for the interface to use [unused] - * @param arg the argument to use - */ - virtual void setArg(uint16_t arg); - -private: - // we need a little circular queues for both directions - CircularQ<uint8_t> outQ; - CircularQ<uint16_t> inQ; - - uint16_t getWordHw(); - void flushSend(); -}; - - -/* -class PixyInterfaceI2C : TPixyInterface -{ -public: - SPI* spi; - PixyInterfaceI2C(I2C* interface); - virtual void init(); - virtual uint16_t getWord(); - virtual uint8_t getByte(); - virtual int8_t send(uint8_t *data, uint8_t len); - virtual void setArg(uint16_t arg); - -private: - // we need a little circular queues for both directions - CircularQ<uint8_t> outQ; - CircularQ<uint16_t> inQ; - - uint16_t getWordHw(); - void flushSend(); -};*/ - -#endif