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question about firmware algorithm on pixy sensor Nxp4330.

Hello~ Help me,

I wanna add algorithm on Pixy sensor nxp4330.

I found some of information way to add algorithm . but i don understand them. it is quite complex for me.

So i need some advice for firmware.

Like how to compile and uploading using Keil as well as which source code i should change and which Source code i must not change .

I already downloaded Keil complier and qt frame work.

Please I really wanna know it .