File content as of revision 16:483cfd88da75:

/**
 * C328-7640 device driver class (Version 0.0.6)
 * Reference documents: C328-7640 User Manual v3.0 2004.8.19
 *
 * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
 * http://shinta.main.jp/
 */

#include "CameraC328.h"

#define WAITIDLE    waitIdle
#define SENDFUNC    sendBytes
#define RECVFUNC    recvBytes
#define WAITFUNC    waitRecv

/**
 * Constructor.
 *
 * @param tx A pin for transmit.
 * @param rx A pin for receive.
 * @param baud Baud rate. (Default is Baud19200.)
 */
CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
    serial.baud((int)baud);
}

/**
 * Destructor.
 */
CameraC328::~CameraC328() {
}

/**
 * Make a sync. for baud rate.
 */
CameraC328::ErrorNumber CameraC328::sync() {
    WAITIDLE();

    for (int i = 0; i < SYNCMAX; i++) {
        if (NoError == sendSync()) {
            if (NoError == recvAckOrNck()) {
                if (NoError == recvSync()) {
                    if (NoError == sendAck(0x0D, 0x00)) {
                        /*
                         * After synchronization, the camera needs a little time for AEC and AGC to be stable.
                         * Users should wait for 1-2 seconds before capturing the first picture.
                         */
                        wait(2);
                        return NoError;
                    }
                }
            }
        }
        wait_ms(50);
    }
    return UnexpectedReply;
}

/**
 * Initialize.
 *
 * @param ct Color type.
 * @param rr Raw resolution.
 * @param jr JPEG resolution.
 */
CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
    WAITIDLE();
    ErrorNumber en;

    en = sendInitial(ct, rr, jr);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    static bool alreadySetupPackageSize = false;
    if (!alreadySetupPackageSize) {
        en = sendSetPackageSize(packageSize);
        if (NoError != en) {
            return en;
        }
        WAITFUNC();
        en = recvAckOrNck();
        if (NoError != en) {
            return en;
        }
        alreadySetupPackageSize = true;
    }

    return (ErrorNumber)NoError;
}

/**
 * Get uncompressed snapshot picture.
 *
 * @param func A pointer to a callback function.
 *             Please do NOT block this callback function.
 *             Because the camera module transmit image datas continuously.
 * @return Status of the error.
 */
CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
    WAITIDLE();
    ErrorNumber en;

    en = sendSnapshot(UncompressedPicture, 0);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    en = sendGetPicture(SnapshotPicture);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    /*
     * image data
     */
    DataType dt;
    uint32_t length = 0;
    WAITFUNC();
    en = recvData(&dt, &length);
    if (NoError != en) {
        return en;
    }
    size_t imgcnt = 0;
    for (int i = 0; i < (int)length; i++) {
        char c;
        WAITFUNC();
        if (!RECVFUNC(&c, 1)) {
            return (ErrorNumber)UnexpectedReply;
        }
        imgcnt++;

        /*
         * Call a call back function.
         * Please do not block this function.
         */
        func(imgcnt, length, c);
    }

    /*
     * ACK
     */
    en = sendAck(0x0A, 0x00);
    if (NoError != en) {
        return en;
    }

    return (ErrorNumber)NoError;
}

/**
 * Get uncompressed preview picture.
 *
 * @param func A pointer to a callback function.
 *             Please do NOT block this callback function.
 *             Because the camera module transmit image datas continuously.
 * @return Status of the error.
 */
CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
    WAITIDLE();
    ErrorNumber en;

    en = sendGetPicture(PreviewPicture);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    /*
     * image data
     */
    DataType dt;
    uint32_t length = 0;
    WAITFUNC();
    en = recvData(&dt, &length);
    if (NoError != en) {
        return en;
    }
    size_t imgcnt = 0;
    for (int i = 0; i < (int)length; i++) {
        char c;
        WAITFUNC();
        if (!RECVFUNC(&c, 1)) {
            return (ErrorNumber)UnexpectedReply;
        }
        imgcnt++;

        /*
         * Call a call back function.
         * Please do not block this function.
         */
        func(imgcnt, length, c);
    }

    /*
     * ACK
     */
    en = sendAck(0x0A, 0x00);
    if (NoError != en) {
        return en;
    }

    return (ErrorNumber)NoError;
}

/**
 * Get JPEG snapshot picture.
 *
 * @param func A pointer to a callback function.
 *             You can block this function until saving the image datas.
 * @return Status of the error.
 */
CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
    WAITIDLE();
    ErrorNumber en;

    en = sendSnapshot(CompressedPicture, 1);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    en = sendGetPicture(SnapshotPicture);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    /*
     * Data : snapshot picture
     */
    DataType dt;
    uint32_t length = 0;
    WAITFUNC();
    en = recvData(&dt, &length);
    if (NoError != en) {
        return en;
    }
    en = sendAck(0x00, 0);
    if (NoError != en) {
        return en;
    }

    char databuf[packageSize - 6];
    uint16_t pkg_total = length / (packageSize - 6);
    
    for (int i = 0; i <= (int)pkg_total; i++) {        
        
        printf(".\r\n");    // check it on the processing
        
        uint16_t checksum = 0;
        // ID.
        char idbuf[2];
        WAITFUNC();
        if (!RECVFUNC(idbuf, sizeof(idbuf))) {
            return (ErrorNumber)UnexpectedReply;
        }
        checksum += idbuf[0];
        checksum += idbuf[1];
        uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
        if (id != i) {
            return (ErrorNumber)UnexpectedReply;
        }

        // Size of the data.
        char dsbuf[2];
        WAITFUNC();
        if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
            return (ErrorNumber)UnexpectedReply;
        }

        // Received the data.
        checksum += dsbuf[0];
        checksum += dsbuf[1];
        uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
        WAITFUNC();
        if (!RECVFUNC(&databuf[0], ds)) {
            return (ErrorNumber)UnexpectedReply;
        }
        for (int j = 0; j < ds; j++) {
            checksum += databuf[j];
        }

        // Verify code.
        char vcbuf[2];
        WAITFUNC();
        if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
            return (ErrorNumber)UnexpectedReply;
        }
        uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
        if (vc != (checksum & 0xff)) {
            return (ErrorNumber)UnexpectedReply;
        }

        /*
         * Call a call back function.
         * You can block this function while working.
         */
        func(databuf, ds);

        /*
         * We should wait for camera working before reply a ACK.
         */
        wait_ms(100);
        en = sendAck(0x00, 1 + i);
        if (NoError != en) {
            return en;
        }      
    }
    return (ErrorNumber)NoError;
}

/**
 * Get JPEG preview picture.
 *
 * @param func A pointer to a callback function.
 *             You can block this function until saving the image datas.
 * @return Status of the error.
 */
CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) {
    WAITIDLE();
    ErrorNumber en;

    en = sendGetPicture(JpegPreviewPicture);
    if (NoError != en) {
        return en;
    }
    WAITFUNC();
    en = recvAckOrNck();
    if (NoError != en) {
        return en;
    }

    /*
     * Data : JPEG preview picture
     */
    DataType dt;
    uint32_t length = 0;
    WAITFUNC();
    en = recvData(&dt, &length);
    if (NoError != en) {
        return en;
    }
    en = sendAck(0x00, 0);
    if (NoError != en) {
        return en;
    }

    char databuf[packageSize - 6];
    uint16_t pkg_total = length / (packageSize - 6);
    for (int i = 0; i <= (int)pkg_total; i++) {
        uint16_t checksum = 0;
        // ID.
        char idbuf[2];
        WAITFUNC();
        if (!RECVFUNC(idbuf, sizeof(idbuf))) {
            return (ErrorNumber)UnexpectedReply;
        }
        checksum += idbuf[0];
        checksum += idbuf[1];
        uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
        if (id != i) {
            return (ErrorNumber)UnexpectedReply;
        }

        // Size of the data.
        char dsbuf[2];
        WAITFUNC();
        if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
            return (ErrorNumber)UnexpectedReply;
        }

        // Received the data.
        checksum += dsbuf[0];
        checksum += dsbuf[1];
        uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
        WAITFUNC();
        if (!RECVFUNC(&databuf[0], ds)) {
            return (ErrorNumber)UnexpectedReply;
        }
        for (int j = 0; j < ds; j++) {
            checksum += databuf[j];
        }

        // Verify code.
        char vcbuf[2];
        WAITFUNC();
        if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
            return (ErrorNumber)UnexpectedReply;
        }
        uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
        if (vc != (checksum & 0xff)) {
            return (ErrorNumber)UnexpectedReply;
        }

        /*
         * Call a call back function.
         * You can block this function while working.
         */
        func(databuf, ds);

        /*
         * We should wait for camera working before reply a ACK.
         */
        wait_ms(100);
        en = sendAck(0x00, 1 + i);
        if (NoError != en) {
            return en;
        }
    }

    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
    char send[COMMAND_LENGTH];

    send[0] = 0xAA;
    send[1] = 0x01;
    send[2] = 0x00;
    send[3] = (char)ct;
    send[4] = (char)rr;
    send[5] = (char)jr;

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }
    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
    char send[COMMAND_LENGTH];

    send[0] = 0xAA;
    send[1] = 0x04;
    send[2] = (char)pt;
    send[3] = 0x00;
    send[4] = 0x00;
    send[5] = 0x00;

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }
    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
    char send[COMMAND_LENGTH];
    send[0] = 0xAA;
    send[1] = 0x05;
    send[2] = (char)st;
    send[3] = (skipFrames >> 0) & 0xff;
    send[4] = (skipFrames >> 8) & 0xff;
    send[5] = 0x00;

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }
    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
    char send[COMMAND_LENGTH];
    send[0] = 0xAA;
    send[1] = 0x06;
    send[2] = 0x08;
    send[3] = (packageSize >> 0) & 0xff;
    send[4] = (packageSize >> 8) & 0xff;
    send[5] = 0x00;

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }
    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
    char send[COMMAND_LENGTH];

    static struct baud_list {
        Baud baud;
        uint8_t div1st;
        uint8_t div2nd;
    } baudtable [] = {
        { Baud7200, 0xff, 0x01 },
        { Baud9600, 0xbf, 0x01 },
        { Baud14400, 0x7f, 0x01 },
        { Baud19200, 0x5f, 0x01 },
        { Baud28800, 0x3f, 0x01 },
        { Baud38400, 0x2f, 0x01 },
        { Baud57600, 0x1f, 0x01 },
        { Baud115200, 0x0f, 0x01 }
    };

    uint8_t div1st = 0x00, div2nd = 0x00;
    struct baud_list *p = &baudtable[0];
    for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
        if (p->baud == baud) {
            div1st = p->div1st;
            div2nd = p->div2nd;
        }
        p++;
    }

    send[0] = 0xAA;
    send[1] = 0x07;
    send[2] = div1st;
    send[3] = div2nd;
    send[4] = 0x00;
    send[5] = 0x00;

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }

    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
    char send[COMMAND_LENGTH];
    send[0] = 0xAA;
    send[1] = 0x08;
    send[2] = (int)rt;
    send[3] = 0x00;
    send[4] = 0x00;
    send[5] = specialReset ? 0xff : 0x00;
    /*
     * Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
     */

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }

    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendPowerOff() {
    char send[COMMAND_LENGTH];
    send[0] = 0xAA;
    send[1] = 0x09;
    send[2] = 0x00;
    send[3] = 0x00;
    send[4] = 0x00;
    send[5] = 0x00;

    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }

    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) {
    char recv[COMMAND_LENGTH];
    if (!RECVFUNC(recv, sizeof(recv))) {
        return (ErrorNumber)UnexpectedReply;
    }
    if ((0xAA != recv[0]) || (0x0A != recv[1])) {
        return (ErrorNumber)UnexpectedReply;
    }
    *dt = (DataType)recv[2];
    *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::sendSync() {
    char send[COMMAND_LENGTH];
    send[0] = 0xAA;
    send[1] = 0x0D;
    send[2] = 0x00;
    send[3] = 0x00;
    send[4] = 0x00;
    send[5] = 0x00;
    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }
    return (ErrorNumber)NoError;
}

CameraC328::ErrorNumber CameraC328::recvSync() {
    char recv[COMMAND_LENGTH];
    if (!RECVFUNC(recv, sizeof(recv))) {
        return (ErrorNumber)UnexpectedReply;
    }
    if ((0xAA != recv[0]) || (0x0D != recv[1])) {
        return (ErrorNumber)UnexpectedReply;
    }
    return (ErrorNumber)NoError;
}

/**
 * Send ACK.
 *
 * @param commandId The command with that ID is acknowledged by this command.
 * @param packageId For acknowledging Data command, these two bytes represent the requested package ID. While for acknowledging other commands, these two bytes are set to 00h.
 */
CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
    char send[COMMAND_LENGTH];
    send[0] = 0xAA;
    send[1] = 0x0E;
    send[2] = commandId;
    send[3] = 0x00;    // ACK counter is not used.
    send[4] = (packageId >> 0) & 0xff;
    send[5] = (packageId >> 8) & 0xff;
    if (!SENDFUNC(send, sizeof(send))) {
        return (ErrorNumber)SendRegisterTimeout;
    }
    return (ErrorNumber)NoError;
}

/**
 * Receive ACK or NCK.
 *
 * @return Error number.
 */
CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
    char recv[COMMAND_LENGTH];
    if (!RECVFUNC(recv, sizeof(recv))) {
        return (ErrorNumber)UnexpectedReply;
    }
    if ((0xAA == recv[0]) && (0x0E == recv[1])) {
        return (ErrorNumber)NoError;
    }
    if ((0xAA == recv[0]) && (0x0F == recv[1])) {
        return (ErrorNumber)recv[4];
    }
    return (ErrorNumber)UnexpectedReply;
}

/**
 * Send bytes to camera module.
 *
 * @param buf Pointer to the data buffer.
 * @param len Length of the data buffer.
 *
 * @return True if the data sended.
 */
bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
    for (uint32_t i = 0; i < (uint32_t)len; i++) {
        int cnt = 0;
        while (!serial.writeable()) {
            wait_us(1);
            cnt++;
            if (timeout_us < cnt) {
                return false;
            }
        }
        serial.putc(buf[i]);
    }
    return true;
}

/**
 * Receive bytes from camera module.
 *
 * @param buf Pointer to the data buffer.
 * @param len Length of the data buffer.
 *
 * @return True if the data received.
 */
bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
    for (uint32_t i = 0; i < (uint32_t)len; i++) {
        int cnt = 0;
        while (!serial.readable()) {
            wait_us(1);
            cnt++;
            if (timeout_us < cnt) {
                return false;
            }
        }
        buf[i] = serial.getc();
    }
    return true;
}

/**
 * Wait received.
 *
 * @return True if the data received.
 */
bool CameraC328::waitRecv() {
    while (!serial.readable()) {
    }
    return true;
}

/**
 * Wait idle state.
 */
bool CameraC328::waitIdle() {
    while (serial.readable()) {
        serial.getc();
    }
    return true;
}