cette librairie contient les fonctions de base permettant de detecter un objet avec la camera pixy
TPixyInterface.h
- Committer:
- michelmoulin
- Date:
- 2020-11-18
- Revision:
- 0:a1e10abfbd19
File content as of revision 0:a1e10abfbd19:
// // 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 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 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