Diff: TPixyInterface.h

Revision:

0:ef0e3c67dc5b

Child:

3:66df7d295245

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TPixyInterface.h	Mon Mar 14 00:35:23 2016 +0000
@@ -0,0 +1,100 @@
+//
+// 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
+
+class TPixyInterface
+{
+public:
+    TPixyInterface() {}
+    virtual void init() = 0;
+    virtual int8_t send(uint8_t *data, uint8_t len) = 0;
+    virtual void setArg(uint16_t arg) = 0;
+    virtual uint16_t getWord() = 0;
+    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);
+};
+
+class PixyInterfaceSPI : TPixyInterface
+{
+public:
+    SPI* spi;
+    PixyInterfaceSPI(SPI* 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();
+};
+
+
+/*
+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