Hepta 2
Hepta_Cam&GPS
Dependents: HEPTA2_assembly_0720 HEPTA2_ALL HEPTA2_ALL_ver0803_02
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HeptaSerial
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Hepta 2
Diff: CameraC1098.cpp
- Revision:
- 1:d16a4c3a272a
- Parent:
- 0:5a6468b4164d
--- a/CameraC1098.cpp Mon Jul 09 10:23:32 2012 +0000
+++ b/CameraC1098.cpp Wed Jul 19 09:07:30 2017 +0000
@@ -1,22 +1,10 @@
-/**
- * C1098-SS device driver class (Version 1.0)
- * Reference documents: C1098-SS User Manual v1.0 2012.4.1
- *
- * CameraC328Library
- * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
- * http://shinta.main.jp/
- *
- * CameraC1098-SS Library
- * Copyright (C) 2012 Tadao Iida
- */
-
#include "CameraC1098.h"
-
+static FILE *fp_jpeg;
#define WAITIDLE waitIdle
#define SENDFUNC sendBytes
#define RECVFUNC recvBytes
#define WAITFUNC waitRecv
-
+int num=0;
/**
* Constructor.
*
@@ -24,20 +12,23 @@
* @param rx A pin for receive.
* @param baud Baud rate. (Default is Baud14400.)
*/
-CameraC1098::CameraC1098(PinName tx, PinName rx, int baud) : serial(tx, rx) {
+CameraC1098::CameraC1098(PinName tx, PinName rx, int baud) : serial(tx, rx)
+{
serial.baud(baud);
}
/**
* Destructor.
*/
-CameraC1098::~CameraC1098() {
+CameraC1098::~CameraC1098()
+{
}
/**
* Make a sync. for baud rate.
*/
-CameraC1098::ErrorNumber CameraC1098::sync() {
+CameraC1098::ErrorNumber CameraC1098::sync()
+{
for (int i = 0; i < SYNCMAX; i++) {
if (NoError == sendSync()) {
if (NoError == recvAckOrNck()) {
@@ -64,28 +55,29 @@
* @param baud Camera Interface Speed.
* @param jr JPEG resolution.
*/
-CameraC1098::ErrorNumber CameraC1098::init(Baud baud,JpegResolution jr) {
+CameraC1098::ErrorNumber CameraC1098::init(Baud baud,JpegResolution jr)
+{
int i ;
ErrorNumber en;
WAITIDLE();
setmbedBaud((Baud)(0x07)) ;
-
+
for ( i = 1 ; i < 7 ; i++ ) {
if ( NoError == sendSync() ) {
- if ( NoError == recvAckOrNck() ){
+ if ( NoError == recvAckOrNck() ) {
if ( NoError == recvSync() ) {
if ( NoError == sendAck(0x0D, 0x00) ) {
en = sendInitial(baud,jr);
if (NoError != en) {
return en;
- }
+ }
en = recvAckOrNck();
if (NoError != en) {
return en;
- }
+ }
wait_ms(50) ;
- setmbedBaud(baud);
- //wait_ms(50) ;
+ setmbedBaud(baud);
+ //wait_ms(50) ;
static bool alreadySetupPackageSize = false;
if (!alreadySetupPackageSize) {
en = sendSetPackageSize(packageSize);
@@ -99,21 +91,21 @@
}
alreadySetupPackageSize = true;
}
-
+
wait(2.0);
- return (ErrorNumber)NoError;
- /*
- * 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.
- */
+ return (ErrorNumber)NoError;
+ /*
+ * 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.
+ */
}
- }
- }else{
- setmbedBaud((Baud)(i+1)) ;
+ }
+ } else {
+ setmbedBaud((Baud)(i+1)) ;
}
}
- wait_ms(50);
- }
+ wait_ms(50);
+ }
return UnexpectedReply;
}
@@ -125,7 +117,116 @@
* You can block this function until saving the image datas.
* @return Status of the error.
*/
-CameraC1098::ErrorNumber CameraC1098::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
+CameraC1098::ErrorNumber CameraC1098::getJpegSnapshotPicture()
+{
+ WAITIDLE();
+ ErrorNumber en;
+
+
+ en = sendSnapshot();
+ if (NoError != en) {
+ return en;
+ }
+ WAITFUNC();
+ en = recvAckOrNck();
+ if (NoError != en) {
+ return en;
+ }
+
+ en = sendGetPicture();
+ if (NoError != en) {
+ return en;
+ }
+ WAITFUNC();
+ en = recvAckOrNck();
+ if (NoError != en) {
+ return en;
+ }
+
+ /*
+ * Data : snapshot picture
+ */
+ uint32_t length = 0;
+ WAITFUNC();
+ en = recvData(&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.
+ */
+ size_t siz = ds;
+ for (int ii = 0; ii < (int)siz; ii++) {
+ fprintf(fp_jpeg, "%c", databuf[ii]);
+ }
+ /*
+ * 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;
+}
+
+CameraC1098::ErrorNumber CameraC1098::getJpegSnapshotPicture_data()
+{
WAITIDLE();
ErrorNumber en;
@@ -215,8 +316,11 @@
* Call a call back function.
* You can block this function while working.
*/
- func(databuf, ds);
-
+ size_t siz = ds;
+ for (int ii = 0; ii < (int)siz; ii++) {
+ fprintf(fp_jpeg, "%02X ", databuf[ii]);
+ if(++num%16==0) fprintf(fp_jpeg,"\r\n");
+ }
/*
* We should wait for camera working before reply a ACK.
*/
@@ -230,11 +334,10 @@
return (ErrorNumber)NoError;
}
-
+CameraC1098::ErrorNumber CameraC1098::sendInitial(Baud baud, JpegResolution jr)
+{
+ char send[COMMAND_LENGTH];
-CameraC1098::ErrorNumber CameraC1098::sendInitial(Baud baud, JpegResolution jr) {
- char send[COMMAND_LENGTH];
-
send[0] = 0xAA;
send[1] = 0x01;
send[2] = (char)baud;
@@ -249,7 +352,8 @@
return (ErrorNumber)NoError;
}
-CameraC1098::ErrorNumber CameraC1098::sendGetPicture(void) {
+CameraC1098::ErrorNumber CameraC1098::sendGetPicture(void)
+{
char send[COMMAND_LENGTH];
send[0] = 0xAA;
@@ -265,7 +369,8 @@
return (ErrorNumber)NoError;
}
-CameraC1098::ErrorNumber CameraC1098::sendSnapshot(void) {
+CameraC1098::ErrorNumber CameraC1098::sendSnapshot(void)
+{
char send[COMMAND_LENGTH];
send[0] = 0xAA;
send[1] = 0x05;
@@ -280,7 +385,8 @@
return (ErrorNumber)NoError;
}
-CameraC1098::ErrorNumber CameraC1098::sendSetPackageSize(uint16_t packageSize) {
+CameraC1098::ErrorNumber CameraC1098::sendSetPackageSize(uint16_t packageSize)
+{
char send[COMMAND_LENGTH];
send[0] = 0xAA;
send[1] = 0x06;
@@ -295,33 +401,35 @@
return (ErrorNumber)NoError;
}
-void CameraC1098::setmbedBaud(Baud baud){
- switch((int)baud){
- case 0x02:
- serial._baud(460800);
- break;
- case 0x03:
- serial._baud(230400);
- break;
- case 0x04:
- serial._baud(115200);
- break;
- case 0x05:
- serial._baud(57600);
- break;
- case 0x06:
- serial._baud((int)28800);
- break;
- case 0x07:
- serial._baud(14400);
- break;
- default:
- serial._baud(14400);
+void CameraC1098::setmbedBaud(Baud baud)
+{
+ switch((int)baud) {
+ case 0x02:
+ serial._baud(460800);
+ break;
+ case 0x03:
+ serial._baud(230400);
+ break;
+ case 0x04:
+ serial._baud(115200);
+ break;
+ case 0x05:
+ serial._baud(57600);
+ break;
+ case 0x06:
+ serial._baud((int)28800);
+ break;
+ case 0x07:
+ serial._baud(14400);
+ break;
+ default:
+ serial._baud(14400);
}
}
-CameraC1098::ErrorNumber CameraC1098::sendReset(ResetType specialReset) {
+CameraC1098::ErrorNumber CameraC1098::sendReset(ResetType specialReset)
+{
char send[COMMAND_LENGTH];
send[0] = 0xAA;
send[1] = 0x08;
@@ -341,7 +449,8 @@
}
-CameraC1098::ErrorNumber CameraC1098::recvData(uint32_t *length) {
+CameraC1098::ErrorNumber CameraC1098::recvData(uint32_t *length)
+{
char recv[COMMAND_LENGTH];
if (!RECVFUNC(recv, sizeof(recv))) {
return (ErrorNumber)UnexpectedReply;
@@ -354,7 +463,8 @@
return (ErrorNumber)NoError;
}
-CameraC1098::ErrorNumber CameraC1098::sendSync() {
+CameraC1098::ErrorNumber CameraC1098::sendSync()
+{
char send[COMMAND_LENGTH];
send[0] = 0xAA;
send[1] = 0x0D;
@@ -362,17 +472,18 @@
send[3] = 0x00;
send[4] = 0x00;
send[5] = 0x00;
-
-
+
+
if (!SENDFUNC(send, sizeof(send))) {
return (ErrorNumber)SendRegisterTimeout;
}
return (ErrorNumber)NoError;
}
-CameraC1098::ErrorNumber CameraC1098::recvSync() {
+CameraC1098::ErrorNumber CameraC1098::recvSync()
+{
char recv[COMMAND_LENGTH];
-
+
if (!RECVFUNC(recv, sizeof(recv))) {
return (ErrorNumber)UnexpectedReply;
}
@@ -388,7 +499,8 @@
* @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.
*/
-CameraC1098::ErrorNumber CameraC1098::sendAck(uint8_t commandId, uint16_t packageId) {
+CameraC1098::ErrorNumber CameraC1098::sendAck(uint8_t commandId, uint16_t packageId)
+{
char send[COMMAND_LENGTH];
send[0] = 0xAA;
@@ -408,9 +520,10 @@
*
* @return Error number.
*/
-CameraC1098::ErrorNumber CameraC1098::recvAckOrNck() {
+CameraC1098::ErrorNumber CameraC1098::recvAckOrNck()
+{
char recv[COMMAND_LENGTH];
-
+
if (!RECVFUNC(recv, sizeof(recv))) {
return (ErrorNumber)UnexpectedReply;
}
@@ -419,7 +532,7 @@
}
if ((0xAA == recv[0]) && (0x0F == recv[1]) && (0x00 == recv[2])) {
return (ErrorNumber)NoError;
- }
+ }
if ((0xAA == recv[0]) && (0x0F == recv[1])) {
return (ErrorNumber)recv[4];
}
@@ -434,7 +547,8 @@
*
* @return True if the data sended.
*/
-bool CameraC1098::sendBytes(char *buf, size_t len, int timeout_us) {
+bool CameraC1098::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()) {
@@ -457,7 +571,8 @@
*
* @return True if the data received.
*/
-bool CameraC1098::recvBytes(char *buf, size_t len, int timeout_us) {
+bool CameraC1098::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()) {
@@ -477,7 +592,8 @@
*
* @return True if the data received.
*/
-bool CameraC1098::waitRecv() {
+bool CameraC1098::waitRecv()
+{
while (!serial.readable()) {
}
return true;
@@ -486,9 +602,74 @@
/**
* Wait idle state.
*/
-bool CameraC1098::waitIdle() {
+bool CameraC1098::waitIdle()
+{
while (serial.readable()) {
serial.getc();
}
return true;
}
+
+void CameraC1098::Sync(void)
+{
+ CameraC1098::ErrorNumber err = CameraC1098::NoError;
+ setmbedBaud(CameraC1098::Baud14400);
+ err = sync();
+ setmbedBaud(CameraC1098::Baud115200);
+ if (CameraC1098::NoError == err) {
+ printf("[ OK ] : CameraC1098::sync\r\n");
+ } else {
+ printf("[FAIL] : CameraC1098::sync (Error=%02X)\r\n", (int)err);
+ }
+}
+
+void CameraC1098::test_jpeg_snapshot_picture(void)
+{
+ CameraC1098::ErrorNumber err = CameraC1098::NoError;
+ for (int i = 0; i < CAPTURE_FRAMES; i++) {
+ char fname[64];
+ snprintf(fname, sizeof(fname), "/fs/test%d.jpg", i);
+ fp_jpeg = fopen(fname, "w");
+
+ err = getJpegSnapshotPicture();
+
+ if (CameraC1098::NoError == err) {
+ printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n");
+ } else {
+ printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
+ }
+ fclose(fp_jpeg);
+ }
+}
+
+void CameraC1098::test_jpeg_snapshot_data(void)
+{
+ CameraC1098::ErrorNumber err = CameraC1098::NoError;
+ for (int i = 0; i < CAPTURE_FRAMES; i++) {
+ char fname[64];
+ snprintf(fname, sizeof(fname), "/fs/test%d.txt", i);
+ fp_jpeg = fopen(fname, "w");
+
+ err = getJpegSnapshotPicture_data();
+
+ if (CameraC1098::NoError == err) {
+ printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n");
+ } else {
+ printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
+ }
+ fclose(fp_jpeg);
+ }
+}
+
+void CameraC1098::initialize(Baud baud,JpegResolution jr)
+{
+ CameraC1098::ErrorNumber err = CameraC1098::NoError;//ErrorNumber define
+ err = init(baud, jr);//
+
+ if (CameraC1098::NoError == err) {
+ printf("[ OK ] : CameraC1098::init\r\n");
+ } else {
+ printf("[FAIL] : CameraC1098::init (Error=%02X)\r\n", (int)err);
+ }
+
+}
\ No newline at end of file