悠登 山本 / Mbed 2 deprecated CanSatB2019_main_Class導入前

Class導入前です　まだできてません

Dependencies:   mbed CameraUS015sb612-3

JPEGCamera.cpp@4:1354e56c7dd3, 2019-11-20 (annotated)

Committer:
YUPPY
Date:
Wed Nov 20 08:06:46 2019 +0000
Revision:
4:1354e56c7dd3
class_before_loading;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YUPPY 4:1354e56c7dd3 1 /* Arduino JPEGCamera Library
YUPPY 4:1354e56c7dd3 2 * Copyright 2010 SparkFun Electronic
YUPPY 4:1354e56c7dd3 3 * Written by Ryan Owens
YUPPY 4:1354e56c7dd3 4 * Modified by arms22
YUPPY 4:1354e56c7dd3 5 * Ported to mbed by yamaguch
YUPPY 4:1354e56c7dd3 6 */
YUPPY 4:1354e56c7dd3 7
YUPPY 4:1354e56c7dd3 8 #include "JPEGCamera.h"
YUPPY 4:1354e56c7dd3 9
YUPPY 4:1354e56c7dd3 10 #define min(x, y) ((x) < (y)) ? (x) : (y)
YUPPY 4:1354e56c7dd3 11
YUPPY 4:1354e56c7dd3 12 const int RESPONSE_TIMEOUT = 500;
YUPPY 4:1354e56c7dd3 13 const int DATA_TIMEOUT = 1000;
YUPPY 4:1354e56c7dd3 14
YUPPY 4:1354e56c7dd3 15 JPEGCamera::JPEGCamera(PinName tx, PinName rx) : Serial(tx, rx) {
YUPPY 4:1354e56c7dd3 16 printf("AA\r\n");
YUPPY 4:1354e56c7dd3 17 baud(38400);
YUPPY 4:1354e56c7dd3 18 state = READY;
YUPPY 4:1354e56c7dd3 19 }
YUPPY 4:1354e56c7dd3 20
YUPPY 4:1354e56c7dd3 21 bool JPEGCamera::setPictureSize(JPEGCamera::PictureSize size, bool doReset) {
YUPPY 4:1354e56c7dd3 22 char buf[9] = {0x56, 0x00, 0x31, 0x05, 0x04, 0x01, 0x00, 0x19, (char) size};
YUPPY 4:1354e56c7dd3 23 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 24
YUPPY 4:1354e56c7dd3 25 if (ret == 5 && buf[0] == 0x76) {
YUPPY 4:1354e56c7dd3 26 if (doReset)
YUPPY 4:1354e56c7dd3 27 reset();
YUPPY 4:1354e56c7dd3 28 return true;
YUPPY 4:1354e56c7dd3 29 } else
YUPPY 4:1354e56c7dd3 30 return false;
YUPPY 4:1354e56c7dd3 31 }
YUPPY 4:1354e56c7dd3 32
YUPPY 4:1354e56c7dd3 33 bool JPEGCamera::isReady() {
YUPPY 4:1354e56c7dd3 34 return state == READY;
YUPPY 4:1354e56c7dd3 35 }
YUPPY 4:1354e56c7dd3 36
YUPPY 4:1354e56c7dd3 37 bool JPEGCamera::isProcessing() {
YUPPY 4:1354e56c7dd3 38 return state == PROCESSING;
YUPPY 4:1354e56c7dd3 39 }
YUPPY 4:1354e56c7dd3 40
YUPPY 4:1354e56c7dd3 41 bool JPEGCamera::takePicture(char *filename) {
YUPPY 4:1354e56c7dd3 42 if (state == READY) {
YUPPY 4:1354e56c7dd3 43 fp = fopen(filename, "wb");
YUPPY 4:1354e56c7dd3 44 if (fp != 0) {
YUPPY 4:1354e56c7dd3 45 if (takePicture()) {
YUPPY 4:1354e56c7dd3 46 imageSize = getImageSize();
YUPPY 4:1354e56c7dd3 47 address = 0;
YUPPY 4:1354e56c7dd3 48 state = PROCESSING;
YUPPY 4:1354e56c7dd3 49 } else {
YUPPY 4:1354e56c7dd3 50 fclose(fp);
YUPPY 4:1354e56c7dd3 51 printf("takePicture(%s) failed", filename);
YUPPY 4:1354e56c7dd3 52 state = ERROR;
YUPPY 4:1354e56c7dd3 53 }
YUPPY 4:1354e56c7dd3 54 } else {
YUPPY 4:1354e56c7dd3 55 printf("fopen() failed");
YUPPY 4:1354e56c7dd3 56 state = ERROR;
YUPPY 4:1354e56c7dd3 57 }
YUPPY 4:1354e56c7dd3 58 }
YUPPY 4:1354e56c7dd3 59 return state != ERROR;
YUPPY 4:1354e56c7dd3 60 }
YUPPY 4:1354e56c7dd3 61
YUPPY 4:1354e56c7dd3 62 bool JPEGCamera::processPicture() {
YUPPY 4:1354e56c7dd3 63 if (state == PROCESSING) {
YUPPY 4:1354e56c7dd3 64 if (address < imageSize) {
YUPPY 4:1354e56c7dd3 65 char data[1024];
YUPPY 4:1354e56c7dd3 66 int size = readData(data, min(sizeof(data), imageSize - address), address);
YUPPY 4:1354e56c7dd3 67 int ret = fwrite(data, size, 1, fp);
YUPPY 4:1354e56c7dd3 68 if (ret > 0)
YUPPY 4:1354e56c7dd3 69 address += size;
YUPPY 4:1354e56c7dd3 70 if (ret == 0 || address >= imageSize) {
YUPPY 4:1354e56c7dd3 71 stopPictures();
YUPPY 4:1354e56c7dd3 72 fclose(fp);
YUPPY 4:1354e56c7dd3 73 wait(0.1); // ????
YUPPY 4:1354e56c7dd3 74 state = ret > 0 ? READY : ERROR;
YUPPY 4:1354e56c7dd3 75 }
YUPPY 4:1354e56c7dd3 76 }
YUPPY 4:1354e56c7dd3 77 }
YUPPY 4:1354e56c7dd3 78
YUPPY 4:1354e56c7dd3 79 return state == PROCESSING || state == READY;
YUPPY 4:1354e56c7dd3 80 }
YUPPY 4:1354e56c7dd3 81
YUPPY 4:1354e56c7dd3 82 bool JPEGCamera::reset() {
YUPPY 4:1354e56c7dd3 83 char buf[4] = {0x56, 0x00, 0x26, 0x00};
YUPPY 4:1354e56c7dd3 84 int ret = sendReceive(buf, sizeof buf, 4);
YUPPY 4:1354e56c7dd3 85 if (ret == 4 && buf[0] == 0x76) {
YUPPY 4:1354e56c7dd3 86 wait(4.0);
YUPPY 4:1354e56c7dd3 87 state = READY;
YUPPY 4:1354e56c7dd3 88 } else {
YUPPY 4:1354e56c7dd3 89 state = ERROR;
YUPPY 4:1354e56c7dd3 90 }
YUPPY 4:1354e56c7dd3 91 return state == READY;
YUPPY 4:1354e56c7dd3 92 }
YUPPY 4:1354e56c7dd3 93
YUPPY 4:1354e56c7dd3 94 bool JPEGCamera::takePicture() {
YUPPY 4:1354e56c7dd3 95 char buf[5] = {0x56, 0x00, 0x36, 0x01, 0x00};
YUPPY 4:1354e56c7dd3 96 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 97
YUPPY 4:1354e56c7dd3 98 return ret == 5 && buf[0] == 0x76;
YUPPY 4:1354e56c7dd3 99 }
YUPPY 4:1354e56c7dd3 100
YUPPY 4:1354e56c7dd3 101 bool JPEGCamera::stopPictures() {
YUPPY 4:1354e56c7dd3 102 char buf[5] = {0x56, 0x00, 0x36, 0x01, 0x03};
YUPPY 4:1354e56c7dd3 103 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 104
YUPPY 4:1354e56c7dd3 105 return ret == 4 && buf[0] == 0x76;
YUPPY 4:1354e56c7dd3 106 }
YUPPY 4:1354e56c7dd3 107
YUPPY 4:1354e56c7dd3 108 int JPEGCamera::getImageSize() {
YUPPY 4:1354e56c7dd3 109 char buf[9] = {0x56, 0x00, 0x34, 0x01, 0x00};
YUPPY 4:1354e56c7dd3 110 int ret = sendReceive(buf, sizeof buf, 9);
YUPPY 4:1354e56c7dd3 111
YUPPY 4:1354e56c7dd3 112 //The size is in the last 2 characters of the response.
YUPPY 4:1354e56c7dd3 113 return (ret == 9 && buf[0] == 0x76) ? (buf[7] << 8 | buf[8]) : 0;
YUPPY 4:1354e56c7dd3 114 }
YUPPY 4:1354e56c7dd3 115
YUPPY 4:1354e56c7dd3 116 int JPEGCamera::readData(char *dataBuf, int size, int address) {
YUPPY 4:1354e56c7dd3 117 char buf[16] = {0x56, 0x00, 0x32, 0x0C, 0x00, 0x0A, 0x00, 0x00,
YUPPY 4:1354e56c7dd3 118 address >> 8, address & 255, 0x00, 0x00, size >> 8, size & 255, 0x00, 0x0A
YUPPY 4:1354e56c7dd3 119 };
YUPPY 4:1354e56c7dd3 120 int ret = sendReceive(buf, sizeof buf, 5);
YUPPY 4:1354e56c7dd3 121
YUPPY 4:1354e56c7dd3 122 return (ret == 5 && buf[0] == 0x76) ? receive(dataBuf, size, DATA_TIMEOUT) : 0;
YUPPY 4:1354e56c7dd3 123 }
YUPPY 4:1354e56c7dd3 124
YUPPY 4:1354e56c7dd3 125 int JPEGCamera::sendReceive(char *buf, int sendSize, int receiveSize) {
YUPPY 4:1354e56c7dd3 126 while (readable()) getc();
YUPPY 4:1354e56c7dd3 127
YUPPY 4:1354e56c7dd3 128 for (int i = 0; i < sendSize; i++) putc(buf[i]);
YUPPY 4:1354e56c7dd3 129
YUPPY 4:1354e56c7dd3 130 return receive(buf, receiveSize, RESPONSE_TIMEOUT);
YUPPY 4:1354e56c7dd3 131 }
YUPPY 4:1354e56c7dd3 132
YUPPY 4:1354e56c7dd3 133 int JPEGCamera::receive(char *buf, int size, int timeout) {
YUPPY 4:1354e56c7dd3 134 timer.start();
YUPPY 4:1354e56c7dd3 135 timer.reset();
YUPPY 4:1354e56c7dd3 136
YUPPY 4:1354e56c7dd3 137 int i = 0;
YUPPY 4:1354e56c7dd3 138 while (i < size && timer.read_ms() < timeout) {
YUPPY 4:1354e56c7dd3 139 if (readable())
YUPPY 4:1354e56c7dd3 140 buf[i++] = getc();
YUPPY 4:1354e56c7dd3 141 }
YUPPY 4:1354e56c7dd3 142
YUPPY 4:1354e56c7dd3 143 return i;
YUPPY 4:1354e56c7dd3 144 }