Mitesh Patel
this will take a image from C328 serial camera and store those images in mbed flash as html and this html page is uploaded into the server at ip:192.168.1.2
CameraC328.cpp@0:e1a0471e5ffb, 2010-12-15 (annotated)
- Committer:
- mitesh2patel
- Date:
- Wed Dec 15 15:01:56 2010 +0000
- Revision:
- 0:e1a0471e5ffb
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| mitesh2patel | 0:e1a0471e5ffb | 1 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 2 | * C328-7640 device driver class (Version 0.0.6) |
| mitesh2patel | 0:e1a0471e5ffb | 3 | * Reference documents: C328-7640 User Manual v3.0 2004.8.19 |
| mitesh2patel | 0:e1a0471e5ffb | 4 | * |
| mitesh2patel | 0:e1a0471e5ffb | 5 | * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems) |
| mitesh2patel | 0:e1a0471e5ffb | 6 | * http://shinta.main.jp/ |
| mitesh2patel | 0:e1a0471e5ffb | 7 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 8 | |
| mitesh2patel | 0:e1a0471e5ffb | 9 | #include "CameraC328.h" |
| mitesh2patel | 0:e1a0471e5ffb | 10 | |
| mitesh2patel | 0:e1a0471e5ffb | 11 | #define WAITIDLE waitIdle |
| mitesh2patel | 0:e1a0471e5ffb | 12 | #define SENDFUNC sendBytes |
| mitesh2patel | 0:e1a0471e5ffb | 13 | #define RECVFUNC recvBytes |
| mitesh2patel | 0:e1a0471e5ffb | 14 | #define WAITFUNC waitRecv |
| mitesh2patel | 0:e1a0471e5ffb | 15 | |
| mitesh2patel | 0:e1a0471e5ffb | 16 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 17 | * Constructor. |
| mitesh2patel | 0:e1a0471e5ffb | 18 | * |
| mitesh2patel | 0:e1a0471e5ffb | 19 | * @param tx A pin for transmit. |
| mitesh2patel | 0:e1a0471e5ffb | 20 | * @param rx A pin for receive. |
| mitesh2patel | 0:e1a0471e5ffb | 21 | * @param baud Baud rate. (Default is Baud19200.) |
| mitesh2patel | 0:e1a0471e5ffb | 22 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 23 | CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) { |
| mitesh2patel | 0:e1a0471e5ffb | 24 | serial.baud((int)baud); |
| mitesh2patel | 0:e1a0471e5ffb | 25 | } |
| mitesh2patel | 0:e1a0471e5ffb | 26 | |
| mitesh2patel | 0:e1a0471e5ffb | 27 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 28 | * Destructor. |
| mitesh2patel | 0:e1a0471e5ffb | 29 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 30 | CameraC328::~CameraC328() { |
| mitesh2patel | 0:e1a0471e5ffb | 31 | } |
| mitesh2patel | 0:e1a0471e5ffb | 32 | |
| mitesh2patel | 0:e1a0471e5ffb | 33 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 34 | * Make a sync. for baud rate. |
| mitesh2patel | 0:e1a0471e5ffb | 35 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 36 | CameraC328::ErrorNumber CameraC328::sync() { |
| mitesh2patel | 0:e1a0471e5ffb | 37 | WAITIDLE(); |
| mitesh2patel | 0:e1a0471e5ffb | 38 | |
| mitesh2patel | 0:e1a0471e5ffb | 39 | for (int i = 0; i < SYNCMAX; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 40 | if (NoError == sendSync()) { |
| mitesh2patel | 0:e1a0471e5ffb | 41 | if (NoError == recvAckOrNck()) { |
| mitesh2patel | 0:e1a0471e5ffb | 42 | if (NoError == recvSync()) { |
| mitesh2patel | 0:e1a0471e5ffb | 43 | if (NoError == sendAck(0x0D, 0x00)) { |
| mitesh2patel | 0:e1a0471e5ffb | 44 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 45 | * After synchronization, the camera needs a little time for AEC and AGC to be stable. |
| mitesh2patel | 0:e1a0471e5ffb | 46 | * Users should wait for 1-2 seconds before capturing the first picture. |
| mitesh2patel | 0:e1a0471e5ffb | 47 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 48 | wait(2); |
| mitesh2patel | 0:e1a0471e5ffb | 49 | return NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 50 | } |
| mitesh2patel | 0:e1a0471e5ffb | 51 | } |
| mitesh2patel | 0:e1a0471e5ffb | 52 | } |
| mitesh2patel | 0:e1a0471e5ffb | 53 | } |
| mitesh2patel | 0:e1a0471e5ffb | 54 | wait_ms(50); |
| mitesh2patel | 0:e1a0471e5ffb | 55 | } |
| mitesh2patel | 0:e1a0471e5ffb | 56 | return UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 57 | } |
| mitesh2patel | 0:e1a0471e5ffb | 58 | |
| mitesh2patel | 0:e1a0471e5ffb | 59 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 60 | * Initialize. |
| mitesh2patel | 0:e1a0471e5ffb | 61 | * |
| mitesh2patel | 0:e1a0471e5ffb | 62 | * @param ct Color type. |
| mitesh2patel | 0:e1a0471e5ffb | 63 | * @param rr Raw resolution. |
| mitesh2patel | 0:e1a0471e5ffb | 64 | * @param jr JPEG resolution. |
| mitesh2patel | 0:e1a0471e5ffb | 65 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 66 | CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) { |
| mitesh2patel | 0:e1a0471e5ffb | 67 | WAITIDLE(); |
| mitesh2patel | 0:e1a0471e5ffb | 68 | ErrorNumber en; |
| mitesh2patel | 0:e1a0471e5ffb | 69 | |
| mitesh2patel | 0:e1a0471e5ffb | 70 | en = sendInitial(ct, rr, jr); |
| mitesh2patel | 0:e1a0471e5ffb | 71 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 72 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 73 | } |
| mitesh2patel | 0:e1a0471e5ffb | 74 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 75 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 76 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 77 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 78 | } |
| mitesh2patel | 0:e1a0471e5ffb | 79 | |
| mitesh2patel | 0:e1a0471e5ffb | 80 | static bool alreadySetupPackageSize = false; |
| mitesh2patel | 0:e1a0471e5ffb | 81 | if (!alreadySetupPackageSize) { |
| mitesh2patel | 0:e1a0471e5ffb | 82 | en = sendSetPackageSize(packageSize); |
| mitesh2patel | 0:e1a0471e5ffb | 83 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 84 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 85 | } |
| mitesh2patel | 0:e1a0471e5ffb | 86 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 87 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 88 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 89 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 90 | } |
| mitesh2patel | 0:e1a0471e5ffb | 91 | alreadySetupPackageSize = true; |
| mitesh2patel | 0:e1a0471e5ffb | 92 | } |
| mitesh2patel | 0:e1a0471e5ffb | 93 | |
| mitesh2patel | 0:e1a0471e5ffb | 94 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 95 | } |
| mitesh2patel | 0:e1a0471e5ffb | 96 | |
| mitesh2patel | 0:e1a0471e5ffb | 97 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 98 | * Get uncompressed snapshot picture. |
| mitesh2patel | 0:e1a0471e5ffb | 99 | * |
| mitesh2patel | 0:e1a0471e5ffb | 100 | * @param func A pointer to a callback function. |
| mitesh2patel | 0:e1a0471e5ffb | 101 | * Please do NOT block this callback function. |
| mitesh2patel | 0:e1a0471e5ffb | 102 | * Because the camera module transmit image datas continuously. |
| mitesh2patel | 0:e1a0471e5ffb | 103 | * @return Status of the error. |
| mitesh2patel | 0:e1a0471e5ffb | 104 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 105 | CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) { |
| mitesh2patel | 0:e1a0471e5ffb | 106 | WAITIDLE(); |
| mitesh2patel | 0:e1a0471e5ffb | 107 | ErrorNumber en; |
| mitesh2patel | 0:e1a0471e5ffb | 108 | |
| mitesh2patel | 0:e1a0471e5ffb | 109 | en = sendSnapshot(UncompressedPicture, 0); |
| mitesh2patel | 0:e1a0471e5ffb | 110 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 111 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 112 | } |
| mitesh2patel | 0:e1a0471e5ffb | 113 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 114 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 115 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 116 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 117 | } |
| mitesh2patel | 0:e1a0471e5ffb | 118 | |
| mitesh2patel | 0:e1a0471e5ffb | 119 | en = sendGetPicture(SnapshotPicture); |
| mitesh2patel | 0:e1a0471e5ffb | 120 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 121 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 122 | } |
| mitesh2patel | 0:e1a0471e5ffb | 123 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 124 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 125 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 126 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 127 | } |
| mitesh2patel | 0:e1a0471e5ffb | 128 | |
| mitesh2patel | 0:e1a0471e5ffb | 129 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 130 | * image data |
| mitesh2patel | 0:e1a0471e5ffb | 131 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 132 | DataType dt; |
| mitesh2patel | 0:e1a0471e5ffb | 133 | uint32_t length = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 134 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 135 | en = recvData(&dt, &length); |
| mitesh2patel | 0:e1a0471e5ffb | 136 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 137 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 138 | } |
| mitesh2patel | 0:e1a0471e5ffb | 139 | size_t imgcnt = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 140 | for (int i = 0; i < (int)length; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 141 | char c; |
| mitesh2patel | 0:e1a0471e5ffb | 142 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 143 | if (!RECVFUNC(&c, 1)) { |
| mitesh2patel | 0:e1a0471e5ffb | 144 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 145 | } |
| mitesh2patel | 0:e1a0471e5ffb | 146 | imgcnt++; |
| mitesh2patel | 0:e1a0471e5ffb | 147 | |
| mitesh2patel | 0:e1a0471e5ffb | 148 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 149 | * Call a call back function. |
| mitesh2patel | 0:e1a0471e5ffb | 150 | * Please do not block this function. |
| mitesh2patel | 0:e1a0471e5ffb | 151 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 152 | func(imgcnt, length, c); |
| mitesh2patel | 0:e1a0471e5ffb | 153 | } |
| mitesh2patel | 0:e1a0471e5ffb | 154 | |
| mitesh2patel | 0:e1a0471e5ffb | 155 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 156 | * ACK |
| mitesh2patel | 0:e1a0471e5ffb | 157 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 158 | en = sendAck(0x0A, 0x00); |
| mitesh2patel | 0:e1a0471e5ffb | 159 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 160 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 161 | } |
| mitesh2patel | 0:e1a0471e5ffb | 162 | |
| mitesh2patel | 0:e1a0471e5ffb | 163 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 164 | } |
| mitesh2patel | 0:e1a0471e5ffb | 165 | |
| mitesh2patel | 0:e1a0471e5ffb | 166 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 167 | * Get uncompressed preview picture. |
| mitesh2patel | 0:e1a0471e5ffb | 168 | * |
| mitesh2patel | 0:e1a0471e5ffb | 169 | * @param func A pointer to a callback function. |
| mitesh2patel | 0:e1a0471e5ffb | 170 | * Please do NOT block this callback function. |
| mitesh2patel | 0:e1a0471e5ffb | 171 | * Because the camera module transmit image datas continuously. |
| mitesh2patel | 0:e1a0471e5ffb | 172 | * @return Status of the error. |
| mitesh2patel | 0:e1a0471e5ffb | 173 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 174 | CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) { |
| mitesh2patel | 0:e1a0471e5ffb | 175 | WAITIDLE(); |
| mitesh2patel | 0:e1a0471e5ffb | 176 | ErrorNumber en; |
| mitesh2patel | 0:e1a0471e5ffb | 177 | |
| mitesh2patel | 0:e1a0471e5ffb | 178 | en = sendGetPicture(PreviewPicture); |
| mitesh2patel | 0:e1a0471e5ffb | 179 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 180 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 181 | } |
| mitesh2patel | 0:e1a0471e5ffb | 182 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 183 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 184 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 185 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 186 | } |
| mitesh2patel | 0:e1a0471e5ffb | 187 | |
| mitesh2patel | 0:e1a0471e5ffb | 188 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 189 | * image data |
| mitesh2patel | 0:e1a0471e5ffb | 190 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 191 | DataType dt; |
| mitesh2patel | 0:e1a0471e5ffb | 192 | uint32_t length = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 193 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 194 | en = recvData(&dt, &length); |
| mitesh2patel | 0:e1a0471e5ffb | 195 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 196 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 197 | } |
| mitesh2patel | 0:e1a0471e5ffb | 198 | size_t imgcnt = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 199 | for (int i = 0; i < (int)length; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 200 | char c; |
| mitesh2patel | 0:e1a0471e5ffb | 201 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 202 | if (!RECVFUNC(&c, 1)) { |
| mitesh2patel | 0:e1a0471e5ffb | 203 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 204 | } |
| mitesh2patel | 0:e1a0471e5ffb | 205 | imgcnt++; |
| mitesh2patel | 0:e1a0471e5ffb | 206 | |
| mitesh2patel | 0:e1a0471e5ffb | 207 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 208 | * Call a call back function. |
| mitesh2patel | 0:e1a0471e5ffb | 209 | * Please do not block this function. |
| mitesh2patel | 0:e1a0471e5ffb | 210 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 211 | func(imgcnt, length, c); |
| mitesh2patel | 0:e1a0471e5ffb | 212 | } |
| mitesh2patel | 0:e1a0471e5ffb | 213 | |
| mitesh2patel | 0:e1a0471e5ffb | 214 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 215 | * ACK |
| mitesh2patel | 0:e1a0471e5ffb | 216 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 217 | en = sendAck(0x0A, 0x00); |
| mitesh2patel | 0:e1a0471e5ffb | 218 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 219 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 220 | } |
| mitesh2patel | 0:e1a0471e5ffb | 221 | |
| mitesh2patel | 0:e1a0471e5ffb | 222 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 223 | } |
| mitesh2patel | 0:e1a0471e5ffb | 224 | |
| mitesh2patel | 0:e1a0471e5ffb | 225 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 226 | * Get JPEG snapshot picture. |
| mitesh2patel | 0:e1a0471e5ffb | 227 | * |
| mitesh2patel | 0:e1a0471e5ffb | 228 | * @param func A pointer to a callback function. |
| mitesh2patel | 0:e1a0471e5ffb | 229 | * You can block this function until saving the image datas. |
| mitesh2patel | 0:e1a0471e5ffb | 230 | * @return Status of the error. |
| mitesh2patel | 0:e1a0471e5ffb | 231 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 232 | CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) { |
| mitesh2patel | 0:e1a0471e5ffb | 233 | WAITIDLE(); |
| mitesh2patel | 0:e1a0471e5ffb | 234 | ErrorNumber en; |
| mitesh2patel | 0:e1a0471e5ffb | 235 | |
| mitesh2patel | 0:e1a0471e5ffb | 236 | en = sendSnapshot(CompressedPicture, 1); |
| mitesh2patel | 0:e1a0471e5ffb | 237 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 238 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 239 | } |
| mitesh2patel | 0:e1a0471e5ffb | 240 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 241 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 242 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 243 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 244 | } |
| mitesh2patel | 0:e1a0471e5ffb | 245 | |
| mitesh2patel | 0:e1a0471e5ffb | 246 | en = sendGetPicture(SnapshotPicture); |
| mitesh2patel | 0:e1a0471e5ffb | 247 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 248 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 249 | } |
| mitesh2patel | 0:e1a0471e5ffb | 250 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 251 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 252 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 253 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 254 | } |
| mitesh2patel | 0:e1a0471e5ffb | 255 | |
| mitesh2patel | 0:e1a0471e5ffb | 256 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 257 | * Data : snapshot picture |
| mitesh2patel | 0:e1a0471e5ffb | 258 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 259 | DataType dt; |
| mitesh2patel | 0:e1a0471e5ffb | 260 | uint32_t length = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 261 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 262 | en = recvData(&dt, &length); |
| mitesh2patel | 0:e1a0471e5ffb | 263 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 264 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 265 | } |
| mitesh2patel | 0:e1a0471e5ffb | 266 | en = sendAck(0x00, 0); |
| mitesh2patel | 0:e1a0471e5ffb | 267 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 268 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 269 | } |
| mitesh2patel | 0:e1a0471e5ffb | 270 | |
| mitesh2patel | 0:e1a0471e5ffb | 271 | char databuf[packageSize - 6]; |
| mitesh2patel | 0:e1a0471e5ffb | 272 | uint16_t pkg_total = length / (packageSize - 6); |
| mitesh2patel | 0:e1a0471e5ffb | 273 | for (int i = 0; i <= (int)pkg_total; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 274 | uint16_t checksum = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 275 | // ID. |
| mitesh2patel | 0:e1a0471e5ffb | 276 | char idbuf[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 277 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 278 | if (!RECVFUNC(idbuf, sizeof(idbuf))) { |
| mitesh2patel | 0:e1a0471e5ffb | 279 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 280 | } |
| mitesh2patel | 0:e1a0471e5ffb | 281 | checksum += idbuf[0]; |
| mitesh2patel | 0:e1a0471e5ffb | 282 | checksum += idbuf[1]; |
| mitesh2patel | 0:e1a0471e5ffb | 283 | uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 284 | if (id != i) { |
| mitesh2patel | 0:e1a0471e5ffb | 285 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 286 | } |
| mitesh2patel | 0:e1a0471e5ffb | 287 | |
| mitesh2patel | 0:e1a0471e5ffb | 288 | // Size of the data. |
| mitesh2patel | 0:e1a0471e5ffb | 289 | char dsbuf[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 290 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 291 | if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { |
| mitesh2patel | 0:e1a0471e5ffb | 292 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 293 | } |
| mitesh2patel | 0:e1a0471e5ffb | 294 | |
| mitesh2patel | 0:e1a0471e5ffb | 295 | // Received the data. |
| mitesh2patel | 0:e1a0471e5ffb | 296 | checksum += dsbuf[0]; |
| mitesh2patel | 0:e1a0471e5ffb | 297 | checksum += dsbuf[1]; |
| mitesh2patel | 0:e1a0471e5ffb | 298 | uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 299 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 300 | if (!RECVFUNC(&databuf[0], ds)) { |
| mitesh2patel | 0:e1a0471e5ffb | 301 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 302 | } |
| mitesh2patel | 0:e1a0471e5ffb | 303 | for (int j = 0; j < ds; j++) { |
| mitesh2patel | 0:e1a0471e5ffb | 304 | checksum += databuf[j]; |
| mitesh2patel | 0:e1a0471e5ffb | 305 | } |
| mitesh2patel | 0:e1a0471e5ffb | 306 | |
| mitesh2patel | 0:e1a0471e5ffb | 307 | // Verify code. |
| mitesh2patel | 0:e1a0471e5ffb | 308 | char vcbuf[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 309 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 310 | if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { |
| mitesh2patel | 0:e1a0471e5ffb | 311 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 312 | } |
| mitesh2patel | 0:e1a0471e5ffb | 313 | uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 314 | if (vc != (checksum & 0xff)) { |
| mitesh2patel | 0:e1a0471e5ffb | 315 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 316 | } |
| mitesh2patel | 0:e1a0471e5ffb | 317 | |
| mitesh2patel | 0:e1a0471e5ffb | 318 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 319 | * Call a call back function. |
| mitesh2patel | 0:e1a0471e5ffb | 320 | * You can block this function while working. |
| mitesh2patel | 0:e1a0471e5ffb | 321 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 322 | func(databuf, ds); |
| mitesh2patel | 0:e1a0471e5ffb | 323 | |
| mitesh2patel | 0:e1a0471e5ffb | 324 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 325 | * We should wait for camera working before reply a ACK. |
| mitesh2patel | 0:e1a0471e5ffb | 326 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 327 | wait_ms(100); |
| mitesh2patel | 0:e1a0471e5ffb | 328 | en = sendAck(0x00, 1 + i); |
| mitesh2patel | 0:e1a0471e5ffb | 329 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 330 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 331 | } |
| mitesh2patel | 0:e1a0471e5ffb | 332 | } |
| mitesh2patel | 0:e1a0471e5ffb | 333 | |
| mitesh2patel | 0:e1a0471e5ffb | 334 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 335 | } |
| mitesh2patel | 0:e1a0471e5ffb | 336 | |
| mitesh2patel | 0:e1a0471e5ffb | 337 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 338 | * Get JPEG preview picture. |
| mitesh2patel | 0:e1a0471e5ffb | 339 | * |
| mitesh2patel | 0:e1a0471e5ffb | 340 | * @param func A pointer to a callback function. |
| mitesh2patel | 0:e1a0471e5ffb | 341 | * You can block this function until saving the image datas. |
| mitesh2patel | 0:e1a0471e5ffb | 342 | * @return Status of the error. |
| mitesh2patel | 0:e1a0471e5ffb | 343 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 344 | CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) { |
| mitesh2patel | 0:e1a0471e5ffb | 345 | WAITIDLE(); |
| mitesh2patel | 0:e1a0471e5ffb | 346 | ErrorNumber en; |
| mitesh2patel | 0:e1a0471e5ffb | 347 | |
| mitesh2patel | 0:e1a0471e5ffb | 348 | en = sendGetPicture(JpegPreviewPicture); |
| mitesh2patel | 0:e1a0471e5ffb | 349 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 350 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 351 | } |
| mitesh2patel | 0:e1a0471e5ffb | 352 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 353 | en = recvAckOrNck(); |
| mitesh2patel | 0:e1a0471e5ffb | 354 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 355 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 356 | } |
| mitesh2patel | 0:e1a0471e5ffb | 357 | |
| mitesh2patel | 0:e1a0471e5ffb | 358 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 359 | * Data : JPEG preview picture |
| mitesh2patel | 0:e1a0471e5ffb | 360 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 361 | DataType dt; |
| mitesh2patel | 0:e1a0471e5ffb | 362 | uint32_t length = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 363 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 364 | en = recvData(&dt, &length); |
| mitesh2patel | 0:e1a0471e5ffb | 365 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 366 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 367 | } |
| mitesh2patel | 0:e1a0471e5ffb | 368 | en = sendAck(0x00, 0); |
| mitesh2patel | 0:e1a0471e5ffb | 369 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 370 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 371 | } |
| mitesh2patel | 0:e1a0471e5ffb | 372 | |
| mitesh2patel | 0:e1a0471e5ffb | 373 | char databuf[packageSize - 6]; |
| mitesh2patel | 0:e1a0471e5ffb | 374 | uint16_t pkg_total = length / (packageSize - 6); |
| mitesh2patel | 0:e1a0471e5ffb | 375 | for (int i = 0; i <= (int)pkg_total; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 376 | uint16_t checksum = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 377 | // ID. |
| mitesh2patel | 0:e1a0471e5ffb | 378 | char idbuf[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 379 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 380 | if (!RECVFUNC(idbuf, sizeof(idbuf))) { |
| mitesh2patel | 0:e1a0471e5ffb | 381 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 382 | } |
| mitesh2patel | 0:e1a0471e5ffb | 383 | checksum += idbuf[0]; |
| mitesh2patel | 0:e1a0471e5ffb | 384 | checksum += idbuf[1]; |
| mitesh2patel | 0:e1a0471e5ffb | 385 | uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 386 | if (id != i) { |
| mitesh2patel | 0:e1a0471e5ffb | 387 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 388 | } |
| mitesh2patel | 0:e1a0471e5ffb | 389 | |
| mitesh2patel | 0:e1a0471e5ffb | 390 | // Size of the data. |
| mitesh2patel | 0:e1a0471e5ffb | 391 | char dsbuf[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 392 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 393 | if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { |
| mitesh2patel | 0:e1a0471e5ffb | 394 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 395 | } |
| mitesh2patel | 0:e1a0471e5ffb | 396 | |
| mitesh2patel | 0:e1a0471e5ffb | 397 | // Received the data. |
| mitesh2patel | 0:e1a0471e5ffb | 398 | checksum += dsbuf[0]; |
| mitesh2patel | 0:e1a0471e5ffb | 399 | checksum += dsbuf[1]; |
| mitesh2patel | 0:e1a0471e5ffb | 400 | uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 401 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 402 | if (!RECVFUNC(&databuf[0], ds)) { |
| mitesh2patel | 0:e1a0471e5ffb | 403 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 404 | } |
| mitesh2patel | 0:e1a0471e5ffb | 405 | for (int j = 0; j < ds; j++) { |
| mitesh2patel | 0:e1a0471e5ffb | 406 | checksum += databuf[j]; |
| mitesh2patel | 0:e1a0471e5ffb | 407 | } |
| mitesh2patel | 0:e1a0471e5ffb | 408 | |
| mitesh2patel | 0:e1a0471e5ffb | 409 | // Verify code. |
| mitesh2patel | 0:e1a0471e5ffb | 410 | char vcbuf[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 411 | WAITFUNC(); |
| mitesh2patel | 0:e1a0471e5ffb | 412 | if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { |
| mitesh2patel | 0:e1a0471e5ffb | 413 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 414 | } |
| mitesh2patel | 0:e1a0471e5ffb | 415 | uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 416 | if (vc != (checksum & 0xff)) { |
| mitesh2patel | 0:e1a0471e5ffb | 417 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 418 | } |
| mitesh2patel | 0:e1a0471e5ffb | 419 | |
| mitesh2patel | 0:e1a0471e5ffb | 420 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 421 | * Call a call back function. |
| mitesh2patel | 0:e1a0471e5ffb | 422 | * You can block this function while working. |
| mitesh2patel | 0:e1a0471e5ffb | 423 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 424 | func(databuf, ds); |
| mitesh2patel | 0:e1a0471e5ffb | 425 | |
| mitesh2patel | 0:e1a0471e5ffb | 426 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 427 | * We should wait for camera working before reply a ACK. |
| mitesh2patel | 0:e1a0471e5ffb | 428 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 429 | wait_ms(100); |
| mitesh2patel | 0:e1a0471e5ffb | 430 | en = sendAck(0x00, 1 + i); |
| mitesh2patel | 0:e1a0471e5ffb | 431 | if (NoError != en) { |
| mitesh2patel | 0:e1a0471e5ffb | 432 | return en; |
| mitesh2patel | 0:e1a0471e5ffb | 433 | } |
| mitesh2patel | 0:e1a0471e5ffb | 434 | } |
| mitesh2patel | 0:e1a0471e5ffb | 435 | |
| mitesh2patel | 0:e1a0471e5ffb | 436 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 437 | } |
| mitesh2patel | 0:e1a0471e5ffb | 438 | |
| mitesh2patel | 0:e1a0471e5ffb | 439 | CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) { |
| mitesh2patel | 0:e1a0471e5ffb | 440 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 441 | |
| mitesh2patel | 0:e1a0471e5ffb | 442 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 443 | send[1] = 0x01; |
| mitesh2patel | 0:e1a0471e5ffb | 444 | send[2] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 445 | send[3] = (char)ct; |
| mitesh2patel | 0:e1a0471e5ffb | 446 | send[4] = (char)rr; |
| mitesh2patel | 0:e1a0471e5ffb | 447 | send[5] = (char)jr; |
| mitesh2patel | 0:e1a0471e5ffb | 448 | |
| mitesh2patel | 0:e1a0471e5ffb | 449 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 450 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 451 | } |
| mitesh2patel | 0:e1a0471e5ffb | 452 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 453 | } |
| mitesh2patel | 0:e1a0471e5ffb | 454 | |
| mitesh2patel | 0:e1a0471e5ffb | 455 | CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) { |
| mitesh2patel | 0:e1a0471e5ffb | 456 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 457 | |
| mitesh2patel | 0:e1a0471e5ffb | 458 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 459 | send[1] = 0x04; |
| mitesh2patel | 0:e1a0471e5ffb | 460 | send[2] = (char)pt; |
| mitesh2patel | 0:e1a0471e5ffb | 461 | send[3] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 462 | send[4] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 463 | send[5] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 464 | |
| mitesh2patel | 0:e1a0471e5ffb | 465 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 466 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 467 | } |
| mitesh2patel | 0:e1a0471e5ffb | 468 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 469 | } |
| mitesh2patel | 0:e1a0471e5ffb | 470 | |
| mitesh2patel | 0:e1a0471e5ffb | 471 | CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) { |
| mitesh2patel | 0:e1a0471e5ffb | 472 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 473 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 474 | send[1] = 0x05; |
| mitesh2patel | 0:e1a0471e5ffb | 475 | send[2] = (char)st; |
| mitesh2patel | 0:e1a0471e5ffb | 476 | send[3] = (skipFrames >> 0) & 0xff; |
| mitesh2patel | 0:e1a0471e5ffb | 477 | send[4] = (skipFrames >> 8) & 0xff; |
| mitesh2patel | 0:e1a0471e5ffb | 478 | send[5] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 479 | |
| mitesh2patel | 0:e1a0471e5ffb | 480 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 481 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 482 | } |
| mitesh2patel | 0:e1a0471e5ffb | 483 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 484 | } |
| mitesh2patel | 0:e1a0471e5ffb | 485 | |
| mitesh2patel | 0:e1a0471e5ffb | 486 | CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) { |
| mitesh2patel | 0:e1a0471e5ffb | 487 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 488 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 489 | send[1] = 0x06; |
| mitesh2patel | 0:e1a0471e5ffb | 490 | send[2] = 0x08; |
| mitesh2patel | 0:e1a0471e5ffb | 491 | send[3] = (packageSize >> 0) & 0xff; |
| mitesh2patel | 0:e1a0471e5ffb | 492 | send[4] = (packageSize >> 8) & 0xff; |
| mitesh2patel | 0:e1a0471e5ffb | 493 | send[5] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 494 | |
| mitesh2patel | 0:e1a0471e5ffb | 495 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 496 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 497 | } |
| mitesh2patel | 0:e1a0471e5ffb | 498 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 499 | } |
| mitesh2patel | 0:e1a0471e5ffb | 500 | |
| mitesh2patel | 0:e1a0471e5ffb | 501 | CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) { |
| mitesh2patel | 0:e1a0471e5ffb | 502 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 503 | |
| mitesh2patel | 0:e1a0471e5ffb | 504 | static struct baud_list { |
| mitesh2patel | 0:e1a0471e5ffb | 505 | Baud baud; |
| mitesh2patel | 0:e1a0471e5ffb | 506 | uint8_t div1st; |
| mitesh2patel | 0:e1a0471e5ffb | 507 | uint8_t div2nd; |
| mitesh2patel | 0:e1a0471e5ffb | 508 | } baudtable [] = { |
| mitesh2patel | 0:e1a0471e5ffb | 509 | { Baud7200, 0xff, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 510 | { Baud9600, 0xbf, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 511 | { Baud14400, 0x7f, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 512 | { Baud19200, 0x5f, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 513 | { Baud28800, 0x3f, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 514 | { Baud38400, 0x2f, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 515 | { Baud57600, 0x1f, 0x01 }, |
| mitesh2patel | 0:e1a0471e5ffb | 516 | { Baud115200, 0x0f, 0x01 } |
| mitesh2patel | 0:e1a0471e5ffb | 517 | }; |
| mitesh2patel | 0:e1a0471e5ffb | 518 | |
| mitesh2patel | 0:e1a0471e5ffb | 519 | uint8_t div1st = 0x00, div2nd = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 520 | struct baud_list *p = &baudtable[0]; |
| mitesh2patel | 0:e1a0471e5ffb | 521 | for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 522 | if (p->baud == baud) { |
| mitesh2patel | 0:e1a0471e5ffb | 523 | div1st = p->div1st; |
| mitesh2patel | 0:e1a0471e5ffb | 524 | div2nd = p->div2nd; |
| mitesh2patel | 0:e1a0471e5ffb | 525 | } |
| mitesh2patel | 0:e1a0471e5ffb | 526 | p++; |
| mitesh2patel | 0:e1a0471e5ffb | 527 | } |
| mitesh2patel | 0:e1a0471e5ffb | 528 | |
| mitesh2patel | 0:e1a0471e5ffb | 529 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 530 | send[1] = 0x07; |
| mitesh2patel | 0:e1a0471e5ffb | 531 | send[2] = div1st; |
| mitesh2patel | 0:e1a0471e5ffb | 532 | send[3] = div2nd; |
| mitesh2patel | 0:e1a0471e5ffb | 533 | send[4] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 534 | send[5] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 535 | |
| mitesh2patel | 0:e1a0471e5ffb | 536 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 537 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 538 | } |
| mitesh2patel | 0:e1a0471e5ffb | 539 | |
| mitesh2patel | 0:e1a0471e5ffb | 540 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 541 | } |
| mitesh2patel | 0:e1a0471e5ffb | 542 | |
| mitesh2patel | 0:e1a0471e5ffb | 543 | CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) { |
| mitesh2patel | 0:e1a0471e5ffb | 544 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 545 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 546 | send[1] = 0x08; |
| mitesh2patel | 0:e1a0471e5ffb | 547 | send[2] = (int)rt; |
| mitesh2patel | 0:e1a0471e5ffb | 548 | send[3] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 549 | send[4] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 550 | send[5] = specialReset ? 0xff : 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 551 | /* |
| mitesh2patel | 0:e1a0471e5ffb | 552 | * Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately. |
| mitesh2patel | 0:e1a0471e5ffb | 553 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 554 | |
| mitesh2patel | 0:e1a0471e5ffb | 555 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 556 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 557 | } |
| mitesh2patel | 0:e1a0471e5ffb | 558 | |
| mitesh2patel | 0:e1a0471e5ffb | 559 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 560 | } |
| mitesh2patel | 0:e1a0471e5ffb | 561 | |
| mitesh2patel | 0:e1a0471e5ffb | 562 | CameraC328::ErrorNumber CameraC328::sendPowerOff() { |
| mitesh2patel | 0:e1a0471e5ffb | 563 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 564 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 565 | send[1] = 0x09; |
| mitesh2patel | 0:e1a0471e5ffb | 566 | send[2] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 567 | send[3] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 568 | send[4] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 569 | send[5] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 570 | |
| mitesh2patel | 0:e1a0471e5ffb | 571 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 572 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 573 | } |
| mitesh2patel | 0:e1a0471e5ffb | 574 | |
| mitesh2patel | 0:e1a0471e5ffb | 575 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 576 | } |
| mitesh2patel | 0:e1a0471e5ffb | 577 | |
| mitesh2patel | 0:e1a0471e5ffb | 578 | CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) { |
| mitesh2patel | 0:e1a0471e5ffb | 579 | char recv[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 580 | if (!RECVFUNC(recv, sizeof(recv))) { |
| mitesh2patel | 0:e1a0471e5ffb | 581 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 582 | } |
| mitesh2patel | 0:e1a0471e5ffb | 583 | if ((0xAA != recv[0]) || (0x0A != recv[1])) { |
| mitesh2patel | 0:e1a0471e5ffb | 584 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 585 | } |
| mitesh2patel | 0:e1a0471e5ffb | 586 | *dt = (DataType)recv[2]; |
| mitesh2patel | 0:e1a0471e5ffb | 587 | *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0); |
| mitesh2patel | 0:e1a0471e5ffb | 588 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 589 | } |
| mitesh2patel | 0:e1a0471e5ffb | 590 | |
| mitesh2patel | 0:e1a0471e5ffb | 591 | CameraC328::ErrorNumber CameraC328::sendSync() { |
| mitesh2patel | 0:e1a0471e5ffb | 592 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 593 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 594 | send[1] = 0x0D; |
| mitesh2patel | 0:e1a0471e5ffb | 595 | send[2] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 596 | send[3] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 597 | send[4] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 598 | send[5] = 0x00; |
| mitesh2patel | 0:e1a0471e5ffb | 599 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 600 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 601 | } |
| mitesh2patel | 0:e1a0471e5ffb | 602 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 603 | } |
| mitesh2patel | 0:e1a0471e5ffb | 604 | |
| mitesh2patel | 0:e1a0471e5ffb | 605 | CameraC328::ErrorNumber CameraC328::recvSync() { |
| mitesh2patel | 0:e1a0471e5ffb | 606 | char recv[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 607 | if (!RECVFUNC(recv, sizeof(recv))) { |
| mitesh2patel | 0:e1a0471e5ffb | 608 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 609 | } |
| mitesh2patel | 0:e1a0471e5ffb | 610 | if ((0xAA != recv[0]) || (0x0D != recv[1])) { |
| mitesh2patel | 0:e1a0471e5ffb | 611 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 612 | } |
| mitesh2patel | 0:e1a0471e5ffb | 613 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 614 | } |
| mitesh2patel | 0:e1a0471e5ffb | 615 | |
| mitesh2patel | 0:e1a0471e5ffb | 616 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 617 | * Send ACK. |
| mitesh2patel | 0:e1a0471e5ffb | 618 | * |
| mitesh2patel | 0:e1a0471e5ffb | 619 | * @param commandId The command with that ID is acknowledged by this command. |
| mitesh2patel | 0:e1a0471e5ffb | 620 | * @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. |
| mitesh2patel | 0:e1a0471e5ffb | 621 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 622 | CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) { |
| mitesh2patel | 0:e1a0471e5ffb | 623 | char send[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 624 | send[0] = 0xAA; |
| mitesh2patel | 0:e1a0471e5ffb | 625 | send[1] = 0x0E; |
| mitesh2patel | 0:e1a0471e5ffb | 626 | send[2] = commandId; |
| mitesh2patel | 0:e1a0471e5ffb | 627 | send[3] = 0x00; // ACK counter is not used. |
| mitesh2patel | 0:e1a0471e5ffb | 628 | send[4] = (packageId >> 0) & 0xff; |
| mitesh2patel | 0:e1a0471e5ffb | 629 | send[5] = (packageId >> 8) & 0xff; |
| mitesh2patel | 0:e1a0471e5ffb | 630 | if (!SENDFUNC(send, sizeof(send))) { |
| mitesh2patel | 0:e1a0471e5ffb | 631 | return (ErrorNumber)SendRegisterTimeout; |
| mitesh2patel | 0:e1a0471e5ffb | 632 | } |
| mitesh2patel | 0:e1a0471e5ffb | 633 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 634 | } |
| mitesh2patel | 0:e1a0471e5ffb | 635 | |
| mitesh2patel | 0:e1a0471e5ffb | 636 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 637 | * Receive ACK or NCK. |
| mitesh2patel | 0:e1a0471e5ffb | 638 | * |
| mitesh2patel | 0:e1a0471e5ffb | 639 | * @return Error number. |
| mitesh2patel | 0:e1a0471e5ffb | 640 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 641 | CameraC328::ErrorNumber CameraC328::recvAckOrNck() { |
| mitesh2patel | 0:e1a0471e5ffb | 642 | char recv[COMMAND_LENGTH]; |
| mitesh2patel | 0:e1a0471e5ffb | 643 | if (!RECVFUNC(recv, sizeof(recv))) { |
| mitesh2patel | 0:e1a0471e5ffb | 644 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 645 | } |
| mitesh2patel | 0:e1a0471e5ffb | 646 | if ((0xAA == recv[0]) && (0x0E == recv[1])) { |
| mitesh2patel | 0:e1a0471e5ffb | 647 | return (ErrorNumber)NoError; |
| mitesh2patel | 0:e1a0471e5ffb | 648 | } |
| mitesh2patel | 0:e1a0471e5ffb | 649 | if ((0xAA == recv[0]) && (0x0F == recv[1])) { |
| mitesh2patel | 0:e1a0471e5ffb | 650 | return (ErrorNumber)recv[4]; |
| mitesh2patel | 0:e1a0471e5ffb | 651 | } |
| mitesh2patel | 0:e1a0471e5ffb | 652 | return (ErrorNumber)UnexpectedReply; |
| mitesh2patel | 0:e1a0471e5ffb | 653 | } |
| mitesh2patel | 0:e1a0471e5ffb | 654 | |
| mitesh2patel | 0:e1a0471e5ffb | 655 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 656 | * Send bytes to camera module. |
| mitesh2patel | 0:e1a0471e5ffb | 657 | * |
| mitesh2patel | 0:e1a0471e5ffb | 658 | * @param buf Pointer to the data buffer. |
| mitesh2patel | 0:e1a0471e5ffb | 659 | * @param len Length of the data buffer. |
| mitesh2patel | 0:e1a0471e5ffb | 660 | * |
| mitesh2patel | 0:e1a0471e5ffb | 661 | * @return True if the data sended. |
| mitesh2patel | 0:e1a0471e5ffb | 662 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 663 | bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) { |
| mitesh2patel | 0:e1a0471e5ffb | 664 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 665 | int cnt = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 666 | while (!serial.writeable()) { |
| mitesh2patel | 0:e1a0471e5ffb | 667 | wait_us(1); |
| mitesh2patel | 0:e1a0471e5ffb | 668 | cnt++; |
| mitesh2patel | 0:e1a0471e5ffb | 669 | if (timeout_us < cnt) { |
| mitesh2patel | 0:e1a0471e5ffb | 670 | return false; |
| mitesh2patel | 0:e1a0471e5ffb | 671 | } |
| mitesh2patel | 0:e1a0471e5ffb | 672 | } |
| mitesh2patel | 0:e1a0471e5ffb | 673 | serial.putc(buf[i]); |
| mitesh2patel | 0:e1a0471e5ffb | 674 | } |
| mitesh2patel | 0:e1a0471e5ffb | 675 | return true; |
| mitesh2patel | 0:e1a0471e5ffb | 676 | } |
| mitesh2patel | 0:e1a0471e5ffb | 677 | |
| mitesh2patel | 0:e1a0471e5ffb | 678 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 679 | * Receive bytes from camera module. |
| mitesh2patel | 0:e1a0471e5ffb | 680 | * |
| mitesh2patel | 0:e1a0471e5ffb | 681 | * @param buf Pointer to the data buffer. |
| mitesh2patel | 0:e1a0471e5ffb | 682 | * @param len Length of the data buffer. |
| mitesh2patel | 0:e1a0471e5ffb | 683 | * |
| mitesh2patel | 0:e1a0471e5ffb | 684 | * @return True if the data received. |
| mitesh2patel | 0:e1a0471e5ffb | 685 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 686 | bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) { |
| mitesh2patel | 0:e1a0471e5ffb | 687 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
| mitesh2patel | 0:e1a0471e5ffb | 688 | int cnt = 0; |
| mitesh2patel | 0:e1a0471e5ffb | 689 | while (!serial.readable()) { |
| mitesh2patel | 0:e1a0471e5ffb | 690 | wait_us(1); |
| mitesh2patel | 0:e1a0471e5ffb | 691 | cnt++; |
| mitesh2patel | 0:e1a0471e5ffb | 692 | if (timeout_us < cnt) { |
| mitesh2patel | 0:e1a0471e5ffb | 693 | return false; |
| mitesh2patel | 0:e1a0471e5ffb | 694 | } |
| mitesh2patel | 0:e1a0471e5ffb | 695 | } |
| mitesh2patel | 0:e1a0471e5ffb | 696 | buf[i] = serial.getc(); |
| mitesh2patel | 0:e1a0471e5ffb | 697 | } |
| mitesh2patel | 0:e1a0471e5ffb | 698 | return true; |
| mitesh2patel | 0:e1a0471e5ffb | 699 | } |
| mitesh2patel | 0:e1a0471e5ffb | 700 | |
| mitesh2patel | 0:e1a0471e5ffb | 701 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 702 | * Wait received. |
| mitesh2patel | 0:e1a0471e5ffb | 703 | * |
| mitesh2patel | 0:e1a0471e5ffb | 704 | * @return True if the data received. |
| mitesh2patel | 0:e1a0471e5ffb | 705 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 706 | bool CameraC328::waitRecv() { |
| mitesh2patel | 0:e1a0471e5ffb | 707 | while (!serial.readable()) { |
| mitesh2patel | 0:e1a0471e5ffb | 708 | } |
| mitesh2patel | 0:e1a0471e5ffb | 709 | return true; |
| mitesh2patel | 0:e1a0471e5ffb | 710 | } |
| mitesh2patel | 0:e1a0471e5ffb | 711 | |
| mitesh2patel | 0:e1a0471e5ffb | 712 | /** |
| mitesh2patel | 0:e1a0471e5ffb | 713 | * Wait idle state. |
| mitesh2patel | 0:e1a0471e5ffb | 714 | */ |
| mitesh2patel | 0:e1a0471e5ffb | 715 | bool CameraC328::waitIdle() { |
| mitesh2patel | 0:e1a0471e5ffb | 716 | while (serial.readable()) { |
| mitesh2patel | 0:e1a0471e5ffb | 717 | serial.getc(); |
| mitesh2patel | 0:e1a0471e5ffb | 718 | } |
| mitesh2patel | 0:e1a0471e5ffb | 719 | return true; |
| mitesh2patel | 0:e1a0471e5ffb | 720 | } |