Integrated pixy into emulator. Pixy is no longer in the common/libs folder but in emulator/libs and discovery/libs

2015-04-03 21:42:46 +02:00
parent c570bda350
commit cab86098c5
68 changed files with 6968 additions and 19 deletions
--- a/emulator/libs/Pixy/src/qqueue.h
+++ b/emulator/libs/Pixy/src/qqueue.h
@@ -0,0 +1,105 @@
+//
+// 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
+//
+#ifndef _QQUEUE_H
+#define _QQUEUE_H
+#include <inttypes.h>
+
+#define QQ_LOC        SRAM4_LOC
+#ifdef PIXY
+#define QQ_SIZE       0x3c00
+#else
+#define QQ_SIZE       0x30000
+#endif
+#define QQ_MEM_SIZE  ((QQ_SIZE-sizeof(struct QqueueFields)+sizeof(Qval))/sizeof(Qval))
+
+#ifdef __cplusplus  
+struct Qval
+#else
+typedef struct
+#endif
+{
+#ifdef __cplusplus  
+    Qval()
+    {
+        m_u = m_v = m_y = m_col = 0;
+    }
+
+    Qval(int16_t u, int16_t v, uint16_t y, uint16_t col)
+    {
+        m_u = u;
+        m_v = v;
+        m_y = y;
+        m_col = col;
+    }
+#endif
+
+    uint16_t m_col;
+    int16_t m_v;
+    int16_t m_u;
+    uint16_t m_y;
+
+#ifdef __cplusplus  
+}; 
+#else
+} Qval;
+#endif
+
+
+struct QqueueFields
+{
+    uint16_t readIndex;
+    uint16_t writeIndex;
+
+    uint16_t produced;
+    uint16_t consumed;
+
+    // (array size below doesn't matter-- we're just going to cast a pointer to this struct)
+    Qval data[1]; // data
+};
+
+#ifdef __cplusplus  // M4 is C++ and the "consumer" of data
+
+class Qqueue
+{
+public:
+    Qqueue();
+    ~Qqueue();
+
+    uint32_t dequeue(Qval *val);
+	uint32_t queued()
+	{
+		return m_fields->produced - m_fields->consumed;
+	}
+#ifndef PIXY
+    int enqueue(Qval *val);
+#endif
+
+    uint32_t readAll(Qval *mem, uint32_t size);
+    void flush();
+
+private:
+    QqueueFields *m_fields;
+};
+
+#else //  M0 is C and the "producer" of data (Qvals)
+
+uint32_t qq_enqueue(const Qval *val);
+uint16_t qq_free(void);
+
+extern struct QqueueFields *g_qqueue;
+
+#endif
+
+#endif