Michel MOULIN / pixy_lib_base

cette librairie contient les fonctions de base permettant de detecter un objet avec la camera pixy

Dependents:   pixy_base

TPixyInterface.h@0:a1e10abfbd19, 2020-11-18 (annotated)

Committer:
michelmoulin
Date:
Wed Nov 18 13:12:20 2020 +0000
Revision:
0:a1e10abfbd19
cette version de programme permet d'afficher les coordonnees x et y d'un objet detecte par la camera pixy.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
michelmoulin 0:a1e10abfbd19 1 //
michelmoulin 0:a1e10abfbd19 2 // begin license header
michelmoulin 0:a1e10abfbd19 3 //
michelmoulin 0:a1e10abfbd19 4 // This file is part of Pixy CMUcam5 or "Pixy" for short
michelmoulin 0:a1e10abfbd19 5 //
michelmoulin 0:a1e10abfbd19 6 // All Pixy source code is provided under the terms of the
michelmoulin 0:a1e10abfbd19 7 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
michelmoulin 0:a1e10abfbd19 8 // Those wishing to use Pixy source code, software and/or
michelmoulin 0:a1e10abfbd19 9 // technologies under different licensing terms should contact us at
michelmoulin 0:a1e10abfbd19 10 // cmucam@cs.cmu.edu. Such licensing terms are available for
michelmoulin 0:a1e10abfbd19 11 // all portions of the Pixy codebase presented here.
michelmoulin 0:a1e10abfbd19 12 //
michelmoulin 0:a1e10abfbd19 13 // end license header
michelmoulin 0:a1e10abfbd19 14 //
michelmoulin 0:a1e10abfbd19 15 // This file is for defining the SPI-related classes. It's called Pixy.h instead
michelmoulin 0:a1e10abfbd19 16 // of Pixy_SPI.h because it's the default/recommended communication method
michelmoulin 0:a1e10abfbd19 17 // with Arduino. This class assumes you are using the ICSP connector to talk to
michelmoulin 0:a1e10abfbd19 18 // Pixy from your Arduino. For more information go to:
michelmoulin 0:a1e10abfbd19 19 //
michelmoulin 0:a1e10abfbd19 20 //http://cmucam.org/projects/cmucam5/wiki/Hooking_up_Pixy_to_a_Microcontroller_(like_an_Arduino)
michelmoulin 0:a1e10abfbd19 21 //
michelmoulin 0:a1e10abfbd19 22
michelmoulin 0:a1e10abfbd19 23 #ifndef _TPIXY_INTERFACE_H
michelmoulin 0:a1e10abfbd19 24 #define _TPIXY_INTERFACE_H
michelmoulin 0:a1e10abfbd19 25
michelmoulin 0:a1e10abfbd19 26 #include "TPixy.h"
michelmoulin 0:a1e10abfbd19 27
michelmoulin 0:a1e10abfbd19 28 #define PIXY_SYNC_BYTE 0x5a
michelmoulin 0:a1e10abfbd19 29 #define PIXY_SYNC_BYTE_DATA 0x5b
michelmoulin 0:a1e10abfbd19 30 #define PIXY_BUF_SIZE 16
michelmoulin 0:a1e10abfbd19 31
michelmoulin 0:a1e10abfbd19 32 class TPixyInterface
michelmoulin 0:a1e10abfbd19 33 {
michelmoulin 0:a1e10abfbd19 34 public:
michelmoulin 0:a1e10abfbd19 35 TPixyInterface() {}
michelmoulin 0:a1e10abfbd19 36 virtual int8_t send(uint8_t *data, uint8_t len) = 0;
michelmoulin 0:a1e10abfbd19 37 virtual void setArg(uint16_t arg) = 0;
michelmoulin 0:a1e10abfbd19 38 virtual uint16_t getWord() = 0;
michelmoulin 0:a1e10abfbd19 39 virtual uint8_t getByte() = 0;
michelmoulin 0:a1e10abfbd19 40 };
michelmoulin 0:a1e10abfbd19 41
michelmoulin 0:a1e10abfbd19 42
michelmoulin 0:a1e10abfbd19 43 template <class BufType> class CircularQ
michelmoulin 0:a1e10abfbd19 44 {
michelmoulin 0:a1e10abfbd19 45 public:
michelmoulin 0:a1e10abfbd19 46 BufType buf[PIXY_BUF_SIZE];
michelmoulin 0:a1e10abfbd19 47 uint8_t len;
michelmoulin 0:a1e10abfbd19 48 uint8_t writeIndex;
michelmoulin 0:a1e10abfbd19 49 uint8_t readIndex;
michelmoulin 0:a1e10abfbd19 50
michelmoulin 0:a1e10abfbd19 51 CircularQ();
michelmoulin 0:a1e10abfbd19 52 bool read(BufType *c);
michelmoulin 0:a1e10abfbd19 53 uint8_t freeLen();
michelmoulin 0:a1e10abfbd19 54 bool write(BufType c);
michelmoulin 0:a1e10abfbd19 55 };
michelmoulin 0:a1e10abfbd19 56
michelmoulin 0:a1e10abfbd19 57 class PixyInterfaceSPI : TPixyInterface
michelmoulin 0:a1e10abfbd19 58 {
michelmoulin 0:a1e10abfbd19 59 public:
michelmoulin 0:a1e10abfbd19 60 SPI* spi;
michelmoulin 0:a1e10abfbd19 61 PixyInterfaceSPI(SPI* interface);
michelmoulin 0:a1e10abfbd19 62 virtual uint16_t getWord();
michelmoulin 0:a1e10abfbd19 63 virtual uint8_t getByte();
michelmoulin 0:a1e10abfbd19 64 virtual int8_t send(uint8_t *data, uint8_t len);
michelmoulin 0:a1e10abfbd19 65 virtual void setArg(uint16_t arg);
michelmoulin 0:a1e10abfbd19 66
michelmoulin 0:a1e10abfbd19 67 private:
michelmoulin 0:a1e10abfbd19 68 // we need a little circular queues for both directions
michelmoulin 0:a1e10abfbd19 69 CircularQ<uint8_t> outQ;
michelmoulin 0:a1e10abfbd19 70 CircularQ<uint16_t> inQ;
michelmoulin 0:a1e10abfbd19 71
michelmoulin 0:a1e10abfbd19 72 uint16_t getWordHw();
michelmoulin 0:a1e10abfbd19 73 void flushSend();
michelmoulin 0:a1e10abfbd19 74 };
michelmoulin 0:a1e10abfbd19 75
michelmoulin 0:a1e10abfbd19 76 #endif