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