Junichi Katsu / Mbed 2 deprecated JBB_BTLE_Test

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 Jksoft Blue mbed Board Developer

uvc/usb_mjpeg.cpp@7:3ed1e36587d4, 2014-05-12 (annotated)

Committer:
jksoft
Date:
Mon May 12 14:24:35 2014 +0000
Revision:
7:3ed1e36587d4
Parent:
0:1ed23ab1345f 
First edition

Who changed what in which revision?

UserRevisionLine numberNew contents of line
va009039 0:1ed23ab1345f 1 #include "mbed.h"
va009039 0:1ed23ab1345f 2 #include "usb_mjpeg.h"
va009039 0:1ed23ab1345f 3 //#define __DEBUG
va009039 0:1ed23ab1345f 4 #define __DEBUG2
va009039 0:1ed23ab1345f 5 #include "mydbg.h"
va009039 0:1ed23ab1345f 6 #include "Utils.h"
va009039 0:1ed23ab1345f 7 #include "myjpeg.h"
va009039 0:1ed23ab1345f 8
va009039 0:1ed23ab1345f 9 #ifdef __DEBUG
va009039 0:1ed23ab1345f 10 extern DigitalOut led4;
va009039 0:1ed23ab1345f 11 #endif // __DEBUG
va009039 0:1ed23ab1345f 12
va009039 0:1ed23ab1345f 13 #define MJPEG_FID 0x01
va009039 0:1ed23ab1345f 14 #define MJPEG_EOF 0x02
va009039 0:1ed23ab1345f 15 #define MJPEG_PTS 0x04
va009039 0:1ed23ab1345f 16 #define MJPEG_SCR 0x08
va009039 0:1ed23ab1345f 17 #define MJPEG_STI 0x20
va009039 0:1ed23ab1345f 18 #define MJPEG_ERR 0x40
va009039 0:1ed23ab1345f 19 #define MJPEG_EOH 0x80
va009039 0:1ed23ab1345f 20
va009039 0:1ed23ab1345f 21
va009039 0:1ed23ab1345f 22 usb_mjpeg::usb_mjpeg(uint8_t* buf, int size)
va009039 0:1ed23ab1345f 23 {
va009039 0:1ed23ab1345f 24 DBG_ASSERT(size >= 1024 && size <= 16000);
va009039 0:1ed23ab1345f 25 m_size = size;
va009039 0:1ed23ab1345f 26 m_seq = 0;
va009039 0:1ed23ab1345f 27 m_buf = buf;
va009039 0:1ed23ab1345f 28 ReportErrorFID = 0;
va009039 0:1ed23ab1345f 29 ReportErrorPTS = 0;
va009039 0:1ed23ab1345f 30 }
va009039 0:1ed23ab1345f 31
va009039 0:1ed23ab1345f 32 usb_mjpeg::~usb_mjpeg()
va009039 0:1ed23ab1345f 33 {
va009039 0:1ed23ab1345f 34
va009039 0:1ed23ab1345f 35 }
va009039 0:1ed23ab1345f 36
va009039 0:1ed23ab1345f 37 void usb_mjpeg::input(uint16_t frame, uint8_t* buf, int len)
va009039 0:1ed23ab1345f 38 {
va009039 0:1ed23ab1345f 39 uint8_t* StreamHeader = buf;
va009039 0:1ed23ab1345f 40 DBG_ASSERT(buf);
va009039 0:1ed23ab1345f 41 if (len > 12) {
va009039 0:1ed23ab1345f 42 //DBG_PRINTF("%d %02X %d\n", frame, buf[1], len);
va009039 0:1ed23ab1345f 43 //DBG_HEX(buf, len);
va009039 0:1ed23ab1345f 44 DBG_ASSERT(StreamHeader[0] == 0x0c);
va009039 0:1ed23ab1345f 45 //DBG_ASSERT(buf[1] == 0x8c || buf[1] == 0x8d);
va009039 0:1ed23ab1345f 46 //DBG("bfh:%02X\n", buf[1]);
va009039 0:1ed23ab1345f 47 }
va009039 0:1ed23ab1345f 48 DBG_ASSERT(len >= 2);
va009039 0:1ed23ab1345f 49
va009039 0:1ed23ab1345f 50 int hle = StreamHeader[0];
va009039 0:1ed23ab1345f 51 uint8_t bfh = StreamHeader[1];
va009039 0:1ed23ab1345f 52 DBG_ASSERT(len >= hle);
va009039 0:1ed23ab1345f 53 DBG_ASSERT(hle == 12);
va009039 0:1ed23ab1345f 54 uint8_t* data = buf + hle;
va009039 0:1ed23ab1345f 55 int data_len = len - hle;
va009039 0:1ed23ab1345f 56 if (m_seq == 0) {
va009039 0:1ed23ab1345f 57 if (check_SOI(buf, len)) {
va009039 0:1ed23ab1345f 58 DBG_PRINTF("%04X SOI\n", frame);
va009039 0:1ed23ab1345f 59 DBG_BYTES("SOI", buf, 16);
va009039 0:1ed23ab1345f 60 _open();
va009039 0:1ed23ab1345f 61 m_bfh = bfh; // save FID
va009039 0:1ed23ab1345f 62 if (bfh & MJPEG_PTS) {
va009039 0:1ed23ab1345f 63 m_pts = LE32(StreamHeader+2); // save PTS
va009039 0:1ed23ab1345f 64 }
va009039 0:1ed23ab1345f 65 _wrtie(data, data_len);
va009039 0:1ed23ab1345f 66 m_seq++;
va009039 0:1ed23ab1345f 67 }
va009039 0:1ed23ab1345f 68 } else if (m_seq == 1) {
va009039 0:1ed23ab1345f 69 if (len > hle) {
va009039 0:1ed23ab1345f 70 _wrtie(data, data_len);
va009039 0:1ed23ab1345f 71 }
va009039 0:1ed23ab1345f 72 if (check_EOI(buf, len)) {
va009039 0:1ed23ab1345f 73 DBG_PRINTF("%04X EOI\n", frame);
va009039 0:1ed23ab1345f 74 DBG_BYTES("EOI", buf, 12);
va009039 0:1ed23ab1345f 75 _close();
va009039 0:1ed23ab1345f 76 m_seq = 2; // done
va009039 0:1ed23ab1345f 77 } else if ((m_bfh ^ bfh) & MJPEG_FID) {
va009039 0:1ed23ab1345f 78 ReportErrorFID++;
va009039 0:1ed23ab1345f 79 DBG("ReportErrorFID=%d\n", ReportErrorFID);
va009039 0:1ed23ab1345f 80 m_seq = 0; // restart
va009039 0:1ed23ab1345f 81 } else if ((bfh & MJPEG_PTS) && m_pts != LE32(StreamHeader+2)) {
va009039 0:1ed23ab1345f 82 ReportErrorPTS++;
va009039 0:1ed23ab1345f 83 DBG("ReportErrorPTS=%d\n", ReportErrorPTS);
va009039 0:1ed23ab1345f 84 m_seq = 0; // restart
va009039 0:1ed23ab1345f 85 }
va009039 0:1ed23ab1345f 86 } else { // done
va009039 0:1ed23ab1345f 87 }
va009039 0:1ed23ab1345f 88 DBG_LED4(buf[1] & MJPEG_FID); // FID
va009039 0:1ed23ab1345f 89 }
va009039 0:1ed23ab1345f 90
va009039 0:1ed23ab1345f 91 int usb_mjpeg::status()
va009039 0:1ed23ab1345f 92 {
va009039 0:1ed23ab1345f 93 if (m_seq <= 1) {
va009039 0:1ed23ab1345f 94 return USBERR_PROCESSING;
va009039 0:1ed23ab1345f 95 }
va009039 0:1ed23ab1345f 96 return m_pos;
va009039 0:1ed23ab1345f 97 }
va009039 0:1ed23ab1345f 98
va009039 0:1ed23ab1345f 99 bool usb_mjpeg::check_SOI(uint8_t* buf, int len)
va009039 0:1ed23ab1345f 100 {
va009039 0:1ed23ab1345f 101 if (len >= (12+2)) {
va009039 0:1ed23ab1345f 102 if (buf[12] == 0xff && buf[13] == 0xd8) {
va009039 0:1ed23ab1345f 103 return true;
va009039 0:1ed23ab1345f 104 }
va009039 0:1ed23ab1345f 105 }
va009039 0:1ed23ab1345f 106 return false;
va009039 0:1ed23ab1345f 107 }
va009039 0:1ed23ab1345f 108
va009039 0:1ed23ab1345f 109 bool usb_mjpeg::check_EOI(uint8_t* buf, int len)
va009039 0:1ed23ab1345f 110 {
va009039 0:1ed23ab1345f 111 if (len >= 12) {
va009039 0:1ed23ab1345f 112 if (buf[1] & MJPEG_EOF) {
va009039 0:1ed23ab1345f 113 return true;
va009039 0:1ed23ab1345f 114 }
va009039 0:1ed23ab1345f 115 }
va009039 0:1ed23ab1345f 116 return false;
va009039 0:1ed23ab1345f 117 }
va009039 0:1ed23ab1345f 118
va009039 0:1ed23ab1345f 119 void usb_mjpeg::_open()
va009039 0:1ed23ab1345f 120 {
va009039 0:1ed23ab1345f 121 m_pos = 0;
va009039 0:1ed23ab1345f 122 }
va009039 0:1ed23ab1345f 123
va009039 0:1ed23ab1345f 124 void usb_mjpeg::_wrtie(uint8_t* buf, int len)
va009039 0:1ed23ab1345f 125 {
va009039 0:1ed23ab1345f 126 if (m_buf == NULL) {
va009039 0:1ed23ab1345f 127 return;
va009039 0:1ed23ab1345f 128 }
va009039 0:1ed23ab1345f 129 for(int i = 0; i < len && m_pos < m_size; i++) {
va009039 0:1ed23ab1345f 130 m_buf[m_pos++] = buf[i];
va009039 0:1ed23ab1345f 131 }
va009039 0:1ed23ab1345f 132 }
va009039 0:1ed23ab1345f 133
va009039 0:1ed23ab1345f 134 void usb_mjpeg::_close()
va009039 0:1ed23ab1345f 135 {
va009039 0:1ed23ab1345f 136 //DBG("m_pos=%d\n", m_pos);
va009039 0:1ed23ab1345f 137 //DBG_HEX(m_buf, m_pos);
va009039 0:1ed23ab1345f 138 myjpeg JPEG(m_buf, m_pos, m_size);
va009039 0:1ed23ab1345f 139 JPEG.analytics();
va009039 0:1ed23ab1345f 140 if (JPEG.DHT_pos == 0) {
va009039 0:1ed23ab1345f 141 m_pos = JPEG.insertDHT();
va009039 0:1ed23ab1345f 142 }
va009039 0:1ed23ab1345f 143 }