HeptaCamera_GPS.h

00001 #include "mbed.h"
00002 #include "SerialBuffered.h"
00003 
00004 #ifndef HEPTA_SERIAL_H
00005 #define HEPTA_SERIAL_H
00006 
00007 class HeptaCamera_GPS
00008 {
00009 public:
00010 
00011     enum JpegResolution {
00012         JpegResolution80x64 = 0x01,   // unofficial
00013         JpegResolution160x128 = 0x03, // unofficial
00014         JpegResolution320x240 = 0x05, // QVGA
00015         JpegResolution640x480 = 0x07  // VGA
00016     };
00017 
00018     enum ErrorNumber {
00019         NoError = 0x00,
00020         UnexpectedReply = 0x04,
00021         ParameterError = 0x0b,
00022         SendRegisterTimeout = 0x0c,
00023         CommandIdError = 0x0d,
00024         CommandHeaderError = 0xf0,
00025         SetTransferPackageSizeWrong = 0x11
00026     };
00027 
00028     enum Baud {
00029         Baud460800 = 0x02,
00030         Baud230400 = 0x03,
00031         Baud115200 = 0x04,
00032         Baud57600  = 0x05,
00033         Baud28800  = 0x06,
00034         Baud14400  = 0x07  // Default.
00035     };
00036 
00037     enum ResetType {
00038         Nomal = 0x00,
00039         High  = 0xff
00040     };
00041 
00042     HeptaCamera_GPS(PinName tx, PinName rx, PinName CAM, PinName GPS);
00043 
00044     ~HeptaCamera_GPS();
00045 
00046     ErrorNumber sync();
00047     ErrorNumber init(Baud baud, JpegResolution jr);
00048     ErrorNumber getJpegSnapshotPicture(FILE*fp);
00049     ErrorNumber getJpegSnapshotPicture_data(FILE*fp);
00050     void setmbedBaud(Baud baud);
00051     void camera_setting(void);
00052     void Sync(void);
00053     void initialize(Baud baud,JpegResolution jr);
00054     void test_jpeg_snapshot_picture(const char *filename);
00055     void test_jpeg_snapshot_data(const char *filename);
00056     void jpeg_callback(char *buf, size_t siz);
00057     void gps_setting(void);
00058     char getc();
00059     int  readable();
00060     void flushSerialBuffer(void);
00061     void gga_sensing(float *time, float *latitude, char *ns, float *longitude, char *ew, int *quality, int *stnum, float *hacu, float *altitude, char *aunit, int *gps_check);
00062     void lat_log_sensing_u16(char *lat, char *log, char * height);
00063 
00064 private:
00065     SerialBuffered serial;
00066     DigitalOut CAM_SW;
00067     DigitalOut GPS_SW;
00068     static const int COMMAND_LENGTH = 6;
00069     static const int SYNCMAX = 60;
00070     static const int packageSize = 256;
00071     //static const int CAPTURE_FRAMES = 3;
00072 
00073     char msg[256],msgd[256];
00074     int i,ite,rlock,stn;
00075     int _quality,_stnum;
00076     float _hacu;
00077     float _altitude; 
00078     char _aunit; 
00079     int _gps_check;
00080     
00081     char c;
00082     char gps_data[7][1000];
00083     char ns,ew,statas;
00084     float time,hokui,tokei,vel;
00085     float g_hokui,g_tokei;
00086     float d_hokui,m_hokui,d_tokei,m_tokei;
00087     int h_time,m_time,s_time;
00088     float height_1;
00089     int m_height,cm_height;
00090 
00091     ErrorNumber sendInitial(Baud band, JpegResolution jr);
00092     ErrorNumber sendGetPicture(void);
00093     ErrorNumber sendSnapshot(void);
00094     ErrorNumber sendSetPackageSize(uint16_t packageSize);
00095     ErrorNumber sendReset(ResetType specialReset);
00096     ErrorNumber recvData(uint32_t *length);
00097     ErrorNumber sendSync();
00098     ErrorNumber recvSync();
00099     ErrorNumber sendAck(uint8_t commandId, uint16_t packageId);
00100     ErrorNumber recvAckOrNck();
00101 
00102     bool sendBytes(char *buf, size_t len, int timeout_us = 20000);
00103     bool recvBytes(char *buf, size_t len, int timeout_us = 20000);
00104     bool waitRecv();
00105     bool waitIdle();
00106 };
00107 #endif