JBBoardに接続したモーター2つをRCBControllerでコントロールするテストです。
Dependencies: FatFileSystem TB6612FNG2 mbed
Fork of JBB_BTLE_Test by
uvc/myjpeg.cpp
- Committer:
- va009039
- Date:
- 2012-06-26
- Revision:
- 0:1ed23ab1345f
File content as of revision 0:1ed23ab1345f:
#include "mbed.h" //#define __DEBUG #include "mydbg.h" #include "myjpeg.h" static const uint8_t dht[] = { 0xFF,0xC4,0x01,0xA2,0x00,0x00,0x01,0x05,0x01,0x01,0x01,0x01,0x01,0x01,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A, 0x0B,0x01,0x00,0x03,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x00,0x00,0x00, 0x00,0x00,0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A,0x0B,0x10,0x00, 0x02,0x01,0x03,0x03,0x02,0x04,0x03,0x05,0x05,0x04,0x04,0x00,0x00,0x01,0x7D,0x01, 0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22, 0x71,0x14,0x32,0x81,0x91,0xA1,0x08,0x23,0x42,0xB1,0xC1,0x15,0x52,0xD1,0xF0,0x24, 0x33,0x62,0x72,0x82,0x09,0x0A,0x16,0x17,0x18,0x19,0x1A,0x25,0x26,0x27,0x28,0x29, 0x2A,0x34,0x35,0x36,0x37,0x38,0x39,0x3A,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4A, 0x53,0x54,0x55,0x56,0x57,0x58,0x59,0x5A,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6A, 0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7A,0x83,0x84,0x85,0x86,0x87,0x88,0x89,0x8A, 0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0xA2,0xA3,0xA4,0xA5,0xA6,0xA7,0xA8, 0xA9,0xAA,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xC2,0xC3,0xC4,0xC5,0xC6, 0xC7,0xC8,0xC9,0xCA,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8,0xD9,0xDA,0xE1,0xE2,0xE3, 0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xF1,0xF2,0xF3,0xF4,0xF5,0xF6,0xF7,0xF8,0xF9, 0xFA,0x11,0x00,0x02,0x01,0x02,0x04,0x04,0x03,0x04,0x07,0x05,0x04,0x04,0x00,0x01, 0x02,0x77,0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07, 0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,0xA1,0xB1,0xC1,0x09,0x23,0x33, 0x52,0xF0,0x15,0x62,0x72,0xD1,0x0A,0x16,0x24,0x34,0xE1,0x25,0xF1,0x17,0x18,0x19, 0x1A,0x26,0x27,0x28,0x29,0x2A,0x35,0x36,0x37,0x38,0x39,0x3A,0x43,0x44,0x45,0x46, 0x47,0x48,0x49,0x4A,0x53,0x54,0x55,0x56,0x57,0x58,0x59,0x5A,0x63,0x64,0x65,0x66, 0x67,0x68,0x69,0x6A,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7A,0x82,0x83,0x84,0x85, 0x86,0x87,0x88,0x89,0x8A,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9A,0xA2,0xA3, 0xA4,0xA5,0xA6,0xA7,0xA8,0xA9,0xAA,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA, 0xC2,0xC3,0xC4,0xC5,0xC6,0xC7,0xC8,0xC9,0xCA,0xD2,0xD3,0xD4,0xD5,0xD6,0xD7,0xD8, 0xD9,0xDA,0xE2,0xE3,0xE4,0xE5,0xE6,0xE7,0xE8,0xE9,0xEA,0xF2,0xF3,0xF4,0xF5,0xF6, 0xF7,0xF8,0xF9,0xFA, }; myjpeg::myjpeg(uint8_t* buf, int len, int capacity) { DBG_ASSERT(buf); DBG_ASSERT(len >= 0); m_buf = buf; m_len = len; m_capacity = capacity; } int myjpeg::getc() { if (m_pos >= m_len) { return -1; } return m_buf[m_pos++]; } int myjpeg::getBE16() { int c1 = getc(); if (c1 == (-1)) { return -1; } int c2 = getc(); if (c2 == (-1)) { return -1; } return c1<<8|c2; } void myjpeg::analytics() { m_pos = 0; SOS_pos = 0; DHT_pos = 0; int skip; int lp; while(1) { int marker_pos = m_pos; int c = getc(); if (c == (-1)) { break; } if (c != 0xff) { continue; } c = getc(); if (c == (-1)) { break; } uint8_t marker = c; switch(marker) { case 0xd8: DBG("%04X SOI\n", marker_pos); skip = 0; break; case 0xd9: DBG("%04X EOI\n", marker_pos); skip = 0; break; case 0x00: skip = 0; break; case 0xc0: lp = getBE16(); DBG("%04X SOF0 %d\n", marker_pos, lp); skip = lp - 2; break; case 0xc4: lp = getBE16(); DBG("%04X DHT Lh: %d\n", marker_pos, lp); //DBG("Tc: %d\n", buf[pos+2]>>4); //DBG("Th: %d\n", buf[pos+2]&0xf); DHT_pos = marker_pos; skip = lp - 2; break; case 0xda: lp = getBE16(); DBG("%04X SOS Ls: %d\n", marker_pos, lp); //DBG("Ns: %d\n", buf[pos+2]); //for(i = 1; i <= buf[pos+2]; i++) { // DBG("Cs%d: %d\n", i, buf[pos+3+(i-1)*2]); // DBG("Td%d: %d\n", i, buf[pos+4+(i-1)*2]>>4); // DBG("Ta%d: %d\n", i, buf[pos+4+(i-1)*2]&0xf); //} SOS_pos = marker_pos; skip = lp - 2; break; case 0xdb: lp = getBE16(); DBG("%04X DQT %d\n", marker_pos, lp); skip = lp - 2; break; case 0xe0: lp = getBE16(); DBG("%04X APP0 %d\n", marker_pos, lp); skip = lp - 2; break; default: DBG("%04X ??? %02X\n", marker_pos, marker); skip = 0; break; } while(skip-- > 0) { getc(); } } } int myjpeg::insertDHT() { DBG("m_len=%d m_capacity=%d SOS=%d\n", m_len, m_capacity, SOS_pos); DBG_ASSERT(SOS_pos > 0); DBG_ASSERT(SOS_pos < m_len); DBG_ASSERT(m_len <= m_capacity); DBG_ASSERT(sizeof(dht) == 420); int num1 = m_len - SOS_pos; if (num1 > (m_capacity - SOS_pos - sizeof(dht))) { num1 = m_capacity - SOS_pos - sizeof(dht); } DBG("num1=%d\n", num1); DBG_ASSERT(SOS_pos+sizeof(dht)+num1 <= m_capacity); memmove(m_buf+SOS_pos+sizeof(dht), m_buf+SOS_pos, num1); int num2 = sizeof(dht); if (num2 > m_capacity - SOS_pos) { num2 = m_capacity - SOS_pos; } DBG("num2=%d\n", num2); DBG_ASSERT(SOS_pos+num2 <= m_capacity); memcpy(m_buf+SOS_pos, dht, num2); m_len += sizeof(dht); if (m_len > m_capacity) { m_len = m_capacity; } return m_len; } int fgetBE16(FILE* fp) { int c1 = fgetc(fp); if (c1 == EOF) { return -1; } int c2 = fgetc(fp); if (c2 == EOF) { return -1; } return c1<<8|c2; } void QcamCopy(const char* destination, const char* source) { FILE* fp; FILE* fp2; fp = fopen(source, "rb"); if (fp == NULL) { return; } fp2 = fopen(destination, "wb"); if (fp2 == NULL) { return; } int i,c1,c2; bool f_dht = false; bool f_lp = false; while(!feof(fp)){ c1 = fgetc(fp); if (c1 != 0xff) { fputc(c1, fp2); continue; } c2 = fgetc(fp); switch(c2) { case 0xda: // SOS if (!f_dht) { for(i = 0; i < sizeof(dht); i++) { fputc(dht[i], fp2); } f_dht = true; } f_lp = true; break; case 0xc4: // DHT f_dht = true; f_lp = true; break; case 0xc0: case 0xdb: case 0xe0: f_lp = true; break; default: f_lp = false; break; } fputc(c1, fp2); fputc(c2, fp2); // marker if (f_lp) { c1 = fgetc(fp); // length c2 = fgetc(fp); fputc(c1, fp2); fputc(c2, fp2); int skip = c1<<8|c2; while(skip-- > 2) { int c = fgetc(fp); if (c == EOF) { break; } fputc(c, fp2); } } } fclose(fp); fclose(fp2); }