Daiki Kato / Mbed OS GR-Boards_WebCamera

Web Camera for mbed-os. When you use this program, we judge you have agreed to the following contents. https://developer.mbed.org/teams/Renesas/wiki/About-LICENSE

Dependencies:   HttpServer_snapshot_mbed-os LWIPBP3595Interface_STA_for_mbed-os RomRamBlockDevice mbed-rpc

Fork of GR-Boards_WebCamera by Renesas

このサンプルは 「GR-LYCHEE」ではじめる電子工作 で紹介しています。
出版時と内容が異ならないよう、各ライブラリはアップデートせずに使用してください。

このサンプルの最新バージョンは下記から入手できます。最新バージョンは本の内容と一部処理が異なります。
https://github.com/d-kato/GR-Boards_WebCamera

Files at this revision

API Documentation at this revision

Revision 23:165d08a7e3db, committed 2017-10-30

Comitter:
dkato
Date:
Mon Oct 30 07:54:51 2017 +0000
Parent:
22:9e54410bd934
Child:
24:c19325dc7c6e
Commit message:
Supports GR-LYCHEE

Changed in this revision

GR-PEACH_video.lib Show diff for this revision Revisions of this file
GraphicsFramework.lib Show diff for this revision Revisions of this file
R_BSP.lib Show diff for this revision Revisions of this file
file_table.h Show diff for this revision Revisions of this file
file_table_lychee.h Show annotated file Show diff for this revision Revisions of this file
file_table_peach.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-gr-libs.lib Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
mbed-rpc.lib Show annotated file Show diff for this revision Revisions of this file
mbed_app.json Show annotated file Show diff for this revision Revisions of this file 
--- a/GR-PEACH_video.lib	Thu Jul 13 04:19:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/teams/Renesas/code/GR-PEACH_video/#aeefe5171463

--- a/GraphicsFramework.lib	Thu Jul 13 04:19:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/teams/Renesas/code/GraphicsFramework/#1ee2176ef13f

--- a/R_BSP.lib	Thu Jul 13 04:19:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://developer.mbed.org/teams/Renesas/code/R_BSP/#fb9eda52224e

--- a/file_table.h	Thu Jul 13 04:19:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1224 +0,0 @@
-
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--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/file_table_lychee.h	Mon Oct 30 07:54:51 2017 +0000
@@ -0,0 +1,1222 @@
+
+static const char index_htm_tbl[] = {
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+static const char camaera_js_tbl[] = {
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--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/file_table_peach.h	Mon Oct 30 07:54:51 2017 +0000
@@ -0,0 +1,1224 @@
+
+static const char index_htm_tbl[] = {
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+static const char camera_htm_tbl[] = {
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+};

--- a/main.cpp	Thu Jul 13 04:19:35 2017 +0000
+++ b/main.cpp	Mon Oct 30 07:54:51 2017 +0000
@@ -1,20 +1,19 @@
 #include "mbed.h"
-#include "DisplayBace.h"
-#include "rtos.h"
+#include "EasyAttach_CameraAndLCD.h"
+#include "dcache-control.h"
 #include "JPEG_Converter.h"
 #include "HTTPServer.h"
 #include "mbed_rpc.h"
 #include "FATFileSystem.h"
 #include "RomRamBlockDevice.h"
-#include "file_table.h"        //Binary data of web pages
+#include "SDBlockDevice_GRBoard.h"
+#if defined(TARGET_RZ_A1H)
+#include "file_table_peach.h"         //Binary data of web pages
+#elif defined(TARGET_GR_LYCHEE)
+#include "file_table_lychee.h"        //Binary data of web pages
+#endif
 #include "i2c_setting.h"
 
-#define VIDEO_CVBS             (0)                 /* Analog  Video Signal */
-#define VIDEO_CMOS_CAMERA      (1)                 /* Digital Video Signal */
-#define VIDEO_YCBCR422         (0)
-#define VIDEO_RGB888           (1)
-#define VIDEO_RGB565           (2)
-
 /**** User Selection *********/
 /** Network setting **/
 #define USE_DHCP               (1)                 /* Select  0(static configuration) or 1(use DHCP) */
@@ -23,73 +22,68 @@
   #define SUBNET_MASK          ("255.255.255.0")   /* Subnet mask     */
   #define DEFAULT_GATEWAY      ("192.168.0.3")     /* Default gateway */
 #endif
-#define NETWORK_TYPE           (0)                 /* Select  0(EthernetInterface) or 1(GR_PEACH_WlanBP3595) */
-#if (NETWORK_TYPE == 1)
+#define NETWORK_TYPE           (0)                 /* Select  0(Ethernet), 1(BP3595), 2(ESP32 STA) ,3(ESP32 AP) */
+#if (NETWORK_TYPE >= 1)
   #define SCAN_NETWORK         (1)                 /* Select  0(Use WLAN_SSID, WLAN_PSK, WLAN_SECURITY) or 1(To select a network using the terminal.) */
   #define WLAN_SSID            ("SSIDofYourAP")    /* SSID */
   #define WLAN_PSK             ("PSKofYourAP")     /* PSK(Pre-Shared Key) */
   #define WLAN_SECURITY        NSAPI_SECURITY_WPA_WPA2 /* NSAPI_SECURITY_NONE, NSAPI_SECURITY_WEP, NSAPI_SECURITY_WPA, NSAPI_SECURITY_WPA2 or NSAPI_SECURITY_WPA_WPA2 */
 #endif
-/** Camera setting **/
-#define VIDEO_INPUT_METHOD     (VIDEO_CMOS_CAMERA) /* Select  VIDEO_CVBS or VIDEO_CMOS_CAMERA                       */
-#define VIDEO_INPUT_FORMAT     (VIDEO_YCBCR422)    /* Select  VIDEO_YCBCR422 or VIDEO_RGB888 or VIDEO_RGB565        */
-#define USE_VIDEO_CH           (0)                 /* Select  0 or 1            If selecting VIDEO_CMOS_CAMERA, should be 0.)               */
-#define VIDEO_PAL              (0)                 /* Select  0(NTSC) or 1(PAL) If selecting VIDEO_CVBS, this parameter is not referenced.) */
+/** JPEG out setting **/
+#define JPEG_ENCODE_QUALITY    (75)                /* JPEG encode quality (min:1, max:75 (Considering the size of JpegBuffer, about 75 is the upper limit.)) */
+#define VFIELD_INT_SKIP_CNT    (0)                 /* A guide for GR-LYCHEE.  0:60fps, 1:30fps, 2:20fps, 3:15fps, 4:12fps, 5:10fps */
 /*****************************/
 
-#if USE_VIDEO_CH == (0)
-#define VIDEO_INPUT_CH         (DisplayBase::VIDEO_INPUT_CHANNEL_0)
-#define VIDEO_INT_TYPE         (DisplayBase::INT_TYPE_S0_VFIELD)
-#else
-#define VIDEO_INPUT_CH         (DisplayBase::VIDEO_INPUT_CHANNEL_1)
-#define VIDEO_INT_TYPE         (DisplayBase::INT_TYPE_S1_VFIELD)
-#endif
-
-#if ( VIDEO_INPUT_FORMAT == VIDEO_YCBCR422 || VIDEO_INPUT_FORMAT == VIDEO_RGB565 )
-#define DATA_SIZE_PER_PIC      (2u)
-#else
-#define DATA_SIZE_PER_PIC      (4u)
-#endif
-
-/*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
-    in accordance with the frame buffer burst transfer mode. */
-#define PIXEL_HW               (320u)  /* QVGA */
-#define PIXEL_VW               (240u)  /* QVGA */
-
-#define VIDEO_BUFFER_STRIDE    (((PIXEL_HW * DATA_SIZE_PER_PIC) + 31u) & ~31u)
-#define VIDEO_BUFFER_HEIGHT    (PIXEL_VW)
-
 #if (NETWORK_TYPE == 0)
   #include "EthernetInterface.h"
   EthernetInterface network;
 #elif (NETWORK_TYPE == 1)
   #include "LWIPBP3595Interface.h"
   LWIPBP3595Interface network;
-  DigitalOut usb1en(P3_8);
+#elif (NETWORK_TYPE == 2)
+  #include "ESP32Interface.h"
+  ESP32Interface network(P5_3, P3_14, P7_1, P0_1);
+#elif (NETWORK_TYPE == 3)
+  #include "ESP32InterfaceAP.h"
+  ESP32InterfaceAP network(P5_3, P3_14, P7_1, P0_1);
 #else
   #error NETWORK_TYPE error
 #endif /* NETWORK_TYPE */
-FATFileSystem fs("storage");
-RomRamBlockDevice romram_bd(512000, 512);
-Serial pc(USBTX, USBRX);
+
+/* Video input and LCD layer 0 output */
+#define VIDEO_FORMAT           (DisplayBase::VIDEO_FORMAT_YCBCR422)
+#define GRAPHICS_FORMAT        (DisplayBase::GRAPHICS_FORMAT_YCBCR422)
+#define WR_RD_WRSWA            (DisplayBase::WR_RD_WRSWA_32_16BIT)
+#define DATA_SIZE_PER_PIC      (2u)
+
+/*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
+    in accordance with the frame buffer burst transfer mode. */
+#define VIDEO_PIXEL_HW         (320u)  /* QVGA */
+#define VIDEO_PIXEL_VW         (240u)  /* QVGA */
+
+#define FRAME_BUFFER_STRIDE    (((VIDEO_PIXEL_HW * DATA_SIZE_PER_PIC) + 31u) & ~31u)
+#define FRAME_BUFFER_HEIGHT    (VIDEO_PIXEL_VW)
+
+DisplayBase Display;
 
 #if defined(__ICCARM__)
-#pragma data_alignment=16
-static uint8_t FrameBuffer_Video[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]@ ".mirrorram";  //16 bytes aligned!;
-#pragma data_alignment=4
+#pragma data_alignment=32
+static uint8_t user_frame_buffer0[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]@ ".mirrorram";
 #else
-static uint8_t FrameBuffer_Video[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(16)));  //16 bytes aligned!;
+static uint8_t user_frame_buffer0[FRAME_BUFFER_STRIDE * FRAME_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(32)));
 #endif
-static volatile int32_t vsync_count = 0;
-#if VIDEO_INPUT_METHOD == VIDEO_CVBS
-static volatile int32_t vfield_count = 1;
-#endif
+
+FATFileSystem fs("storage");
+RomRamBlockDevice romram_bd(512000, 512);
+SDBlockDevice_GRBoard sd;
+Serial pc(USBTX, USBRX);
+Thread sdConnectTask;
+
 #if defined(__ICCARM__)
-#pragma data_alignment=8
-static uint8_t JpegBuffer[2][1024 * 50]@ ".mirrorram";  //8 bytes aligned!;
-#pragma data_alignment=4
+#pragma data_alignment=32
+static uint8_t JpegBuffer[2][1024 * 64];
 #else
-static uint8_t JpegBuffer[2][1024 * 50]__attribute((section("NC_BSS"),aligned(8)));  //8 bytes aligned!;
+static uint8_t JpegBuffer[2][1024 * 64]__attribute((aligned(32)));
 #endif
 static size_t jcu_encode_size[2];
 static int image_change = 0;
@@ -98,193 +92,15 @@
 static int jcu_buf_index_write_done = 0;
 static int jcu_buf_index_read = 0;
 static int jcu_encoding = 0;
+static int Vfield_Int_Cnt = 0;
 static char i2c_setting_str_buf[I2C_SETTING_STR_BUF_SIZE];
 
 static void JcuEncodeCallBackFunc(JPEG_Converter::jpeg_conv_error_t err_code) {
-    jcu_buf_index_write_done = jcu_buf_index_write;
-    image_change = 1;
-    jcu_encoding = 0;
-}
-
-static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type) {
-    //Interrupt callback function
-#if VIDEO_INPUT_METHOD == VIDEO_CVBS
-    if (vfield_count != 0) {
-        vfield_count = 0;
-    } else {
-        vfield_count = 1;
-#else
-    {
-#endif
-        JPEG_Converter::bitmap_buff_info_t bitmap_buff_info;
-        JPEG_Converter::encode_options_t   encode_options;
-
-        bitmap_buff_info.width          = PIXEL_HW;
-        bitmap_buff_info.height         = PIXEL_VW;
-        bitmap_buff_info.format         = JPEG_Converter::WR_RD_YCbCr422;
-        bitmap_buff_info.buffer_address = (void *)FrameBuffer_Video;
-
-        encode_options.encode_buff_size = sizeof(JpegBuffer[0]);
-        encode_options.p_EncodeCallBackFunc = &JcuEncodeCallBackFunc;
-
-        jcu_encoding = 1;
-        if (jcu_buf_index_read == jcu_buf_index_write) {
-            if (jcu_buf_index_write != 0) {
-                jcu_buf_index_write = 0;
-            } else {
-                jcu_buf_index_write = 1;
-            }
-        }
-        jcu_encode_size[jcu_buf_index_write] = 0;
-        if (Jcu.encode(&bitmap_buff_info, JpegBuffer[jcu_buf_index_write], &jcu_encode_size[jcu_buf_index_write], &encode_options) != JPEG_Converter::JPEG_CONV_OK) {
-            jcu_encode_size[jcu_buf_index_write] = 0;
-            jcu_encoding = 0;
-        }
-    }
-}
-
-static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type) {
-    //Interrupt callback function for Vsync interruption
-    if (vsync_count > 0) {
-        vsync_count--;
-    }
-}
-
-static void WaitVsync(const int32_t wait_count) {
-    //Wait for the specified number of times Vsync occurs
-    vsync_count = wait_count;
-    while (vsync_count > 0) {
-        /* Do nothing */
-    }
-}
-
-static void camera_start(void) {
-    DisplayBase::graphics_error_t error;
-
-#if VIDEO_INPUT_METHOD == VIDEO_CMOS_CAMERA
-    DisplayBase::video_ext_in_config_t ext_in_config;
-    PinName cmos_camera_pin[11] = {
-        /* data pin */
-        P2_7, P2_6, P2_5, P2_4, P2_3, P2_2, P2_1, P2_0,
-        /* control pin */
-        P10_0,      /* DV0_CLK   */
-        P1_0,       /* DV0_Vsync */
-        P1_1        /* DV0_Hsync */
-    };
-#endif
-
-    /* Create DisplayBase object */
-    DisplayBase Display;
-
-    /* Graphics initialization process */
-    error = Display.Graphics_init(NULL);
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-
-#if VIDEO_INPUT_METHOD == VIDEO_CVBS
-    error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_VDEC, NULL);
-    if( error != DisplayBase::GRAPHICS_OK ) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while(1);
+    if (err_code == JPEG_Converter::JPEG_CONV_OK) {
+        jcu_buf_index_write_done = jcu_buf_index_write;
+        image_change = 1;
     }
-
-#elif VIDEO_INPUT_METHOD == VIDEO_CMOS_CAMERA
-    /* MT9V111 camera input config */
-    ext_in_config.inp_format     = DisplayBase::VIDEO_EXTIN_FORMAT_BT601; /* BT601 8bit YCbCr format */
-    ext_in_config.inp_pxd_edge   = DisplayBase::EDGE_RISING;              /* Clock edge select for capturing data          */
-    ext_in_config.inp_vs_edge    = DisplayBase::EDGE_RISING;              /* Clock edge select for capturing Vsync signals */
-    ext_in_config.inp_hs_edge    = DisplayBase::EDGE_RISING;              /* Clock edge select for capturing Hsync signals */
-    ext_in_config.inp_endian_on  = DisplayBase::OFF;                      /* External input bit endian change on/off       */
-    ext_in_config.inp_swap_on    = DisplayBase::OFF;                      /* External input B/R signal swap on/off         */
-    ext_in_config.inp_vs_inv     = DisplayBase::SIG_POL_NOT_INVERTED;     /* External input DV_VSYNC inversion control     */
-    ext_in_config.inp_hs_inv     = DisplayBase::SIG_POL_INVERTED;         /* External input DV_HSYNC inversion control     */
-    ext_in_config.inp_f525_625   = DisplayBase::EXTIN_LINE_525;           /* Number of lines for BT.656 external input */
-    ext_in_config.inp_h_pos      = DisplayBase::EXTIN_H_POS_CRYCBY;       /* Y/Cb/Y/Cr data string start timing to Hsync reference */
-    ext_in_config.cap_vs_pos     = 6;                                     /* Capture start position from Vsync */
-    ext_in_config.cap_hs_pos     = 150;                                   /* Capture start position form Hsync */
-    ext_in_config.cap_width      = 640;                                   /* Capture width  */
-    ext_in_config.cap_height     = 468u;                                  /* Capture height Max 468[line]
-                                                                             Due to CMOS(MT9V111) output signal timing and VDC5 specification */
-    error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_EXT, &ext_in_config);
-    if( error != DisplayBase::GRAPHICS_OK ) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while(1);
-    }
-
-    /* MT9V111 camera input port setting */
-    error = Display.Graphics_Dvinput_Port_Init(cmos_camera_pin, 11);
-    if( error != DisplayBase::GRAPHICS_OK ) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-#endif
-
-    /* Interrupt callback function setting (Vsync signal input to scaler 0) */
-    error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VI_VSYNC, 0, IntCallbackFunc_Vsync);
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-    /* Video capture setting (progressive form fixed) */
-    error = Display.Video_Write_Setting(
-                VIDEO_INPUT_CH,
-#if VIDEO_PAL == 0
-                DisplayBase::COL_SYS_NTSC_358,
-#else
-                DisplayBase::COL_SYS_PAL_443,
-#endif
-                FrameBuffer_Video,
-                VIDEO_BUFFER_STRIDE,
-#if VIDEO_INPUT_FORMAT == VIDEO_YCBCR422
-                DisplayBase::VIDEO_FORMAT_YCBCR422,
-                DisplayBase::WR_RD_WRSWA_NON,
-#elif VIDEO_INPUT_FORMAT == VIDEO_RGB565
-                DisplayBase::VIDEO_FORMAT_RGB565,
-                DisplayBase::WR_RD_WRSWA_32_16BIT,
-#else
-                DisplayBase::VIDEO_FORMAT_RGB888,
-                DisplayBase::WR_RD_WRSWA_32BIT,
-#endif
-                PIXEL_VW,
-                PIXEL_HW
-            );
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-
-    /* Interrupt callback function setting (Field end signal for recording function in scaler 0) */
-    error = Display.Graphics_Irq_Handler_Set(VIDEO_INT_TYPE, 0, IntCallbackFunc_Vfield);
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-
-    /* Video write process start */
-    error = Display.Video_Start (VIDEO_INPUT_CH);
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-
-    /* Video write process stop */
-    error = Display.Video_Stop (VIDEO_INPUT_CH);
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-
-    /* Video write process start */
-    error = Display.Video_Start (VIDEO_INPUT_CH);
-    if (error != DisplayBase::GRAPHICS_OK) {
-        printf("Line %d, error %d\n", __LINE__, error);
-        while (1);
-    }
-
-    /* Wait vsync to update resister */
-    WaitVsync(1);
+    jcu_encoding = 0;
 }
 
 static int snapshot_req(const char ** pp_data) {
@@ -302,6 +118,56 @@
     return encode_size;
 }
 
+static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type) {
+    if (Vfield_Int_Cnt < VFIELD_INT_SKIP_CNT) {
+        Vfield_Int_Cnt++;
+        return;
+    }
+    Vfield_Int_Cnt = 0;
+
+    //Interrupt callback function
+    if (jcu_encoding == 0) {
+        JPEG_Converter::bitmap_buff_info_t bitmap_buff_info;
+        JPEG_Converter::encode_options_t   encode_options;
+
+        bitmap_buff_info.width              = VIDEO_PIXEL_HW;
+        bitmap_buff_info.height             = VIDEO_PIXEL_VW;
+        bitmap_buff_info.format             = JPEG_Converter::WR_RD_YCbCr422;
+        bitmap_buff_info.buffer_address     = (void *)user_frame_buffer0;
+
+        encode_options.encode_buff_size     = sizeof(JpegBuffer[0]);
+        encode_options.p_EncodeCallBackFunc = &JcuEncodeCallBackFunc;
+        encode_options.input_swapsetting    = JPEG_Converter::WR_RD_WRSWA_32_16_8BIT;
+
+        jcu_encoding = 1;
+        if (jcu_buf_index_read == jcu_buf_index_write) {
+            jcu_buf_index_write ^= 1;  // toggle
+        }
+        jcu_encode_size[jcu_buf_index_write] = 0;
+        dcache_invalid(JpegBuffer[jcu_buf_index_write], sizeof(JpegBuffer[0]));
+        if (Jcu.encode(&bitmap_buff_info, JpegBuffer[jcu_buf_index_write],
+            &jcu_encode_size[jcu_buf_index_write], &encode_options) != JPEG_Converter::JPEG_CONV_OK) {
+            jcu_encode_size[jcu_buf_index_write] = 0;
+            jcu_encoding = 0;
+        }
+    }
+}
+
+static void Start_Video_Camera(void) {
+    // Video capture setting (progressive form fixed)
+    Display.Video_Write_Setting(
+        DisplayBase::VIDEO_INPUT_CHANNEL_0,
+        DisplayBase::COL_SYS_NTSC_358,
+        (void *)user_frame_buffer0,
+        FRAME_BUFFER_STRIDE,
+        VIDEO_FORMAT,
+        WR_RD_WRSWA,
+        VIDEO_PIXEL_VW,
+        VIDEO_PIXEL_HW
+    );
+    EasyAttach_CameraStart(Display, DisplayBase::VIDEO_INPUT_CHANNEL_0);
+}
+
 static void TerminalWrite(Arguments* arg, Reply* r) {
     if ((arg != NULL) && (r != NULL)) {
         for (int i = 0; i < arg->argc; i++) {
@@ -393,7 +259,7 @@
     }
 }
 
-#if (SCAN_NETWORK == 1)
+#if (SCAN_NETWORK == 1) && (NETWORK_TYPE != 3)
 static const char *sec2str(nsapi_security_t sec) {
     switch (sec) {
         case NSAPI_SECURITY_NONE:
@@ -416,15 +282,20 @@
     WiFiAccessPoint *ap;
     bool ret = false;
     int i;
-    int count = 8;    /* Limit number of network arbitrary to 8 */
+    int count = 10;    /* Limit number of network arbitrary to 10 */
 
     printf("Scan:\r\n");
     ap = new WiFiAccessPoint[count];
+    if (ap == NULL) {
+        printf("memory error\r\n");
+        return 0;
+    }
     count = wifi->scan(ap, count);
     for (i = 0; i < count; i++) {
-        printf("No.%d Network: %s secured: %s BSSID: %hhX:%hhX:%hhX:%hhx:%hhx:%hhx RSSI: %hhd Ch: %hhd\r\n", i, ap[i].get_ssid(),
-               sec2str(ap[i].get_security()), ap[i].get_bssid()[0], ap[i].get_bssid()[1], ap[i].get_bssid()[2],
-               ap[i].get_bssid()[3], ap[i].get_bssid()[4], ap[i].get_bssid()[5], ap[i].get_rssi(), ap[i].get_channel());
+        printf("No.%d Network: %s secured: %s BSSID: %02hhx:%02hhx:%02hhx:%02hhx:%02hhx:%02hhx RSSI: %hhd Ch: %hhd\r\n",
+               i, ap[i].get_ssid(), sec2str(ap[i].get_security()),
+               ap[i].get_bssid()[0], ap[i].get_bssid()[1], ap[i].get_bssid()[2], ap[i].get_bssid()[3],
+               ap[i].get_bssid()[4], ap[i].get_bssid()[5], ap[i].get_rssi(), ap[i].get_channel());
     }
     printf("%d networks available.\r\n", count);
 
@@ -435,7 +306,7 @@
         bool loop_break = false;;
 
         printf("\nPlease enter the number of the network you want to connect.\r\n");
-        printf("Enter key:[0]-[%d], (If inputting the other key, it's scanned again.)\r\n", count - 1);
+        printf("Enter key:[0]-[%d], (If you enter another key, it's scanned again.)\r\n", count - 1);
         c = (uint8_t)pc.getc();
         select_no = c - 0x30;
         if ((select_no >= 0) && (select_no < count)) {
@@ -467,7 +338,6 @@
                         break;
                 }
             }
-            printf("connecting...\r\n");
             wifi->set_credentials(ap[select_no].get_ssid(), pass, ap[select_no].get_security());
             ret = true;
         }
@@ -479,24 +349,49 @@
 }
 #endif
 
+static void sd_connect_task(void) {
+    int storage_type = 0;
+
+    while (1) {
+        if (storage_type == 0) {
+            if (sd.connect()) {
+                fs.unmount();
+                fs.mount(&sd);
+                storage_type = 1;
+                printf("SDBlockDevice\r\n");
+            }
+        } else {
+            if (sd.connected() == false) {
+                fs.unmount();
+                fs.mount(&romram_bd);
+                storage_type = 0;
+                printf("RomRamBlockDevice\r\n");
+            }
+        }
+        Thread::wait(250);
+    }
+}
+
 int main(void) {
     printf("********* PROGRAM START ***********\r\n");
 
-    /* Please enable this line when performing the setting from the Terminal side. */
-//    Thread thread(SetI2CfromTerm, NULL, osPriorityBelowNormal, DEFAULT_STACK_SIZE);
+    mount_romramfs();   //RomRamFileSystem Mount
+
+    sdConnectTask.start(&sd_connect_task);
 
-    mount_romramfs();   //RomRamFileSystem Mount
-    camera_start();     //Camera Start
+    EasyAttach_Init(Display);
+    Jcu.SetQuality(JPEG_ENCODE_QUALITY);
+    // Interrupt callback function setting (Field end signal for recording function in scaler 0)
+    Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VFIELD, 0, IntCallbackFunc_Vfield);
+    Start_Video_Camera();
 
     RPC::add_rpc_class<RpcDigitalOut>();
-    RPC::construct<RpcDigitalOut, PinName, const char*>(LED1, "led1");
-    RPC::construct<RpcDigitalOut, PinName, const char*>(LED2, "led2");
-    RPC::construct<RpcDigitalOut, PinName, const char*>(LED3, "led3");
     RPCFunction rpcFunc(TerminalWrite, "TerminalWrite");
     RPCFunction rpcSetI2C(SetI2CfromWeb, "SetI2CfromWeb");
 
-#if (NETWORK_TYPE == 1)
+#if defined(TARGET_RZ_A1H) && (NETWORK_TYPE == 1)
     //Audio Camera Shield USB1 enable for WlanBP3595
+    DigitalOut usb1en(P3_8);
     usb1en = 1;        //Outputs high level
     Thread::wait(5);
     usb1en = 0;        //Outputs low level
@@ -508,16 +403,18 @@
     network.set_dhcp(false);
     if (network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY) != 0) { //for Static IP Address (IPAddress, NetMasks, Gateway)
         printf("Network Set Network Error \r\n");
-        return -1;
     }
 #endif
-#if (NETWORK_TYPE == 1)
-#if (SCAN_NETWORK == 1)
+
+#if (NETWORK_TYPE >= 1)
+#if (SCAN_NETWORK == 1) && (NETWORK_TYPE != 3)
     while (!scan_network(&network));
 #else
     network.set_credentials(WLAN_SSID, WLAN_PSK, WLAN_SECURITY);
 #endif
 #endif
+
+    printf("\r\nConnecting...\r\n");
     if (network.connect() != 0) {
         printf("Network Connect Error \r\n");
         return -1;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-gr-libs.lib	Mon Oct 30 07:54:51 2017 +0000
@@ -0,0 +1,1 @@
+https://github.com/d-kato/mbed-gr-libs/#7cc6857a63b160043de881960d013f0388df5990

--- a/mbed-os.lib	Thu Jul 13 04:19:35 2017 +0000
+++ b/mbed-os.lib	Mon Oct 30 07:54:51 2017 +0000
@@ -1,1 +1,1 @@
-https://github.com/ARMmbed/mbed-os/#8d21974ba35e04c4854e5090c0f8283171664175
+https://github.com/TomoYamanaka/mbed/#94c0ec5d29bd4cee129e1ab7f4b2eed4d6bf99d4

--- a/mbed-rpc.lib	Thu Jul 13 04:19:35 2017 +0000
+++ b/mbed-rpc.lib	Mon Oct 30 07:54:51 2017 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/mbed/code/mbed-rpc/#33e21ae4d434
+https://os.mbed.com/users/dkato/code/mbed-rpc/#a7723533a99c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json	Mon Oct 30 07:54:51 2017 +0000
@@ -0,0 +1,20 @@
+{
+    "config": {
+        "camera":{
+            "help": "0:disable 1:enable",
+            "value": "1"
+        },
+        "lcd":{
+            "help": "0:disable 1:enable",
+            "value": "0"
+        },
+        "usb-host-ch":{
+            "help": "(for GR-PEACH) 0:ch0 1:ch1",
+            "value": "1"
+        },
+        "audio-camera-shield":{
+            "help": "(for GR-PEACH) 0:not use 1:use",
+            "value": "1"
+        }
+    }
+}