CameraC328 - CameraC328

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CameraC328

Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more

CameraC328.cpp@1:167e51d598cf, 2010-06-27 (annotated)

Committer:: shintamainjp
Date:: Sun Jun 27 05:04:04 2010 +0000
Revision:: 1:167e51d598cf
Parent:: 0:7e51c3176eb7
Child:: 2:6a72fcad5c0a

Who changed what in which revision?

User	Revision	Line number	New contents of line
shintamainjp	1:167e51d598cf	1	#include "CameraC328.h"
shintamainjp	1:167e51d598cf	2
shintamainjp	1:167e51d598cf	3	Serial debout(USBTX, USBRX);
shintamainjp	1:167e51d598cf	4
shintamainjp	1:167e51d598cf	5	#if 0
shintamainjp	1:167e51d598cf	6	#define SENDFUNC sendBytesWithDebugOutput
shintamainjp	1:167e51d598cf	7	#define RECVFUNC recvBytesWithDebugOutput
shintamainjp	1:167e51d598cf	8	#else
shintamainjp	1:167e51d598cf	9	#define SENDFUNC sendBytes
shintamainjp	1:167e51d598cf	10	#define RECVFUNC recvBytes
shintamainjp	1:167e51d598cf	11	#endif
shintamainjp	1:167e51d598cf	12
shintamainjp	1:167e51d598cf	13	CameraC328::CameraC328(PinName tx, PinName rx) : serial(tx, rx) {
shintamainjp	1:167e51d598cf	14	serial.baud(BAUD);
shintamainjp	1:167e51d598cf	15	}
shintamainjp	1:167e51d598cf	16
shintamainjp	1:167e51d598cf	17	CameraC328::~CameraC328() {
shintamainjp	1:167e51d598cf	18	}
shintamainjp	1:167e51d598cf	19
shintamainjp	1:167e51d598cf	20	CameraC328::ErrorNumber CameraC328::sync() {
shintamainjp	1:167e51d598cf	21	char send[COMMAND_LENGTH];
shintamainjp	1:167e51d598cf	22	char recv[COMMAND_LENGTH];
shintamainjp	1:167e51d598cf	23	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	24	send[1] = 0x0D;
shintamainjp	1:167e51d598cf	25	send[2] = 0;
shintamainjp	1:167e51d598cf	26	send[3] = 0;
shintamainjp	1:167e51d598cf	27	send[4] = 0;
shintamainjp	1:167e51d598cf	28	send[5] = 0;
shintamainjp	1:167e51d598cf	29	for (int i = 0; i < SYNCMAX; i++) {
shintamainjp	1:167e51d598cf	30	if (SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	31	if (RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	32	if ((0xAA == recv[0]) && (0x0E == recv[1])) {
shintamainjp	1:167e51d598cf	33	if (RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	34	if ((0xAA == recv[0]) && (0x0D == recv[1])) {
shintamainjp	1:167e51d598cf	35	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	36	send[1] = 0x0E;
shintamainjp	1:167e51d598cf	37	send[2] = 0x0D;
shintamainjp	1:167e51d598cf	38	send[3] = 0x00;
shintamainjp	1:167e51d598cf	39	send[4] = 0x00;
shintamainjp	1:167e51d598cf	40	send[5] = 0x00;
shintamainjp	1:167e51d598cf	41	if (SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	42	/*
shintamainjp	1:167e51d598cf	43	* After synchronization, the camera needs a little time for AEC and AGC to be stable.
shintamainjp	1:167e51d598cf	44	* Users should wait for 1-2 seconds before capturing the first picture.
shintamainjp	1:167e51d598cf	45	*/
shintamainjp	1:167e51d598cf	46	wait(1);
shintamainjp	1:167e51d598cf	47	return NoError;
shintamainjp	1:167e51d598cf	48	}
shintamainjp	1:167e51d598cf	49	}
shintamainjp	1:167e51d598cf	50	}
shintamainjp	1:167e51d598cf	51	}
shintamainjp	1:167e51d598cf	52	}
shintamainjp	1:167e51d598cf	53	}
shintamainjp	1:167e51d598cf	54	wait(0.2);
shintamainjp	1:167e51d598cf	55	}
shintamainjp	1:167e51d598cf	56	return UnexpectedReply;
shintamainjp	1:167e51d598cf	57	}
shintamainjp	1:167e51d598cf	58
shintamainjp	1:167e51d598cf	59	CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
shintamainjp	1:167e51d598cf	60	char send[COMMAND_LENGTH];
shintamainjp	1:167e51d598cf	61	char recv[COMMAND_LENGTH];
shintamainjp	1:167e51d598cf	62
shintamainjp	1:167e51d598cf	63	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	64	send[1] = 0x01;
shintamainjp	1:167e51d598cf	65	send[2] = 0x00;
shintamainjp	1:167e51d598cf	66	send[3] = (char)ct;
shintamainjp	1:167e51d598cf	67	send[4] = (char)rr;
shintamainjp	1:167e51d598cf	68	send[5] = (char)jr;
shintamainjp	1:167e51d598cf	69
shintamainjp	1:167e51d598cf	70	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	71	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	1:167e51d598cf	72	}
shintamainjp	1:167e51d598cf	73
shintamainjp	1:167e51d598cf	74	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	75	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	76	}
shintamainjp	1:167e51d598cf	77
shintamainjp	1:167e51d598cf	78	if ((0xAA != recv[0]) \|\| (0x0E != recv[1])) {
shintamainjp	1:167e51d598cf	79	return (ErrorNumber)recv[4];
shintamainjp	1:167e51d598cf	80	}
shintamainjp	1:167e51d598cf	81
shintamainjp	1:167e51d598cf	82	return (ErrorNumber)NoError;
shintamainjp	1:167e51d598cf	83	}
shintamainjp	1:167e51d598cf	84
shintamainjp	1:167e51d598cf	85	/*
shintamainjp	1:167e51d598cf	86	* Get JPEG snapshot picture (uncompressed snapshot picture)
shintamainjp	1:167e51d598cf	87	*
shintamainjp	1:167e51d598cf	88	* @param func Pointer to a callback function.
shintamainjp	1:167e51d598cf	89	* @return Status of the error.
shintamainjp	1:167e51d598cf	90	*/
shintamainjp	1:167e51d598cf	91	CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
shintamainjp	1:167e51d598cf	92
shintamainjp	1:167e51d598cf	93	char send[COMMAND_LENGTH];
shintamainjp	1:167e51d598cf	94	char recv[COMMAND_LENGTH];
shintamainjp	1:167e51d598cf	95
shintamainjp	1:167e51d598cf	96	/*
shintamainjp	1:167e51d598cf	97	* Set Package Size
shintamainjp	1:167e51d598cf	98	*/
shintamainjp	1:167e51d598cf	99
shintamainjp	1:167e51d598cf	100	size_t pkgsiz = 512;
shintamainjp	1:167e51d598cf	101	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	102	send[1] = 0x06;
shintamainjp	1:167e51d598cf	103	send[2] = 0x08;
shintamainjp	1:167e51d598cf	104	send[3] = (char)(pkgsiz >> 8);
shintamainjp	1:167e51d598cf	105	send[4] = (char)(pkgsiz >> 0);
shintamainjp	1:167e51d598cf	106	send[5] = 0x00;
shintamainjp	1:167e51d598cf	107
shintamainjp	1:167e51d598cf	108	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	109	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	1:167e51d598cf	110	}
shintamainjp	1:167e51d598cf	111	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	112	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	113	}
shintamainjp	1:167e51d598cf	114	if ((0xAA != recv[0]) \|\| (0x0E != recv[1])) {
shintamainjp	1:167e51d598cf	115	return (ErrorNumber)recv[4];
shintamainjp	1:167e51d598cf	116	}
shintamainjp	1:167e51d598cf	117
shintamainjp	1:167e51d598cf	118	/*
shintamainjp	1:167e51d598cf	119	* Snapshot (compressed picture)
shintamainjp	1:167e51d598cf	120	*/
shintamainjp	1:167e51d598cf	121
shintamainjp	1:167e51d598cf	122	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	123	send[1] = 0x05;
shintamainjp	1:167e51d598cf	124	send[2] = 0x00;
shintamainjp	1:167e51d598cf	125	send[3] = 0x00;
shintamainjp	1:167e51d598cf	126	send[4] = 0x00;
shintamainjp	1:167e51d598cf	127	send[5] = 0x00;
shintamainjp	1:167e51d598cf	128
shintamainjp	1:167e51d598cf	129	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	130	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	1:167e51d598cf	131	}
shintamainjp	1:167e51d598cf	132	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	133	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	134	}
shintamainjp	1:167e51d598cf	135	if ((0xAA != recv[0]) \|\| (0x0E != recv[1])) {
shintamainjp	1:167e51d598cf	136	return (ErrorNumber)recv[4];
shintamainjp	1:167e51d598cf	137	}
shintamainjp	1:167e51d598cf	138
shintamainjp	1:167e51d598cf	139	/*
shintamainjp	1:167e51d598cf	140	* Get picture
shintamainjp	1:167e51d598cf	141	*/
shintamainjp	1:167e51d598cf	142
shintamainjp	1:167e51d598cf	143	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	144	send[1] = 0x04;
shintamainjp	1:167e51d598cf	145	send[2] = 0x01;
shintamainjp	1:167e51d598cf	146	send[3] = 0x00;
shintamainjp	1:167e51d598cf	147	send[4] = 0x00;
shintamainjp	1:167e51d598cf	148	send[5] = 0x00;
shintamainjp	1:167e51d598cf	149
shintamainjp	1:167e51d598cf	150	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	151	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	1:167e51d598cf	152	}
shintamainjp	1:167e51d598cf	153	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	154	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	155	}
shintamainjp	1:167e51d598cf	156	if ((0xAA != recv[0]) \|\| (0x0E != recv[1])) {
shintamainjp	1:167e51d598cf	157	return (ErrorNumber)recv[4];
shintamainjp	1:167e51d598cf	158	}
shintamainjp	1:167e51d598cf	159	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	1:167e51d598cf	160	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	161	}
shintamainjp	1:167e51d598cf	162	if ((0xAA != recv[0]) \|\| (0x0A != recv[1])) {
shintamainjp	1:167e51d598cf	163	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	164	}
shintamainjp	1:167e51d598cf	165
shintamainjp	1:167e51d598cf	166	/*
shintamainjp	1:167e51d598cf	167	* ACK package ID
shintamainjp	1:167e51d598cf	168	*/
shintamainjp	1:167e51d598cf	169	char pkghead[4];
shintamainjp	1:167e51d598cf	170	char pkgtail[2];
shintamainjp	1:167e51d598cf	171	size_t imgsiz = (recv[5] << (8 * 2)) \| (recv[4] << (8 * 1)) \| (recv[3] << (8 * 0));
shintamainjp	1:167e51d598cf	172	size_t rcvcnt = 0;
shintamainjp	1:167e51d598cf	173	size_t pkgcnt = 0;
shintamainjp	1:167e51d598cf	174	while (rcvcnt < imgsiz) {
shintamainjp	1:167e51d598cf	175	send[0] = 0xAA;
shintamainjp	1:167e51d598cf	176	send[1] = 0x0E;
shintamainjp	1:167e51d598cf	177	send[2] = 0x00;
shintamainjp	1:167e51d598cf	178	send[3] = 0x00;
shintamainjp	1:167e51d598cf	179	send[4] = (char)(pkgcnt >> 0);
shintamainjp	1:167e51d598cf	180	send[5] = (char)(pkgcnt >> 8);
shintamainjp	1:167e51d598cf	181	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	1:167e51d598cf	182	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	1:167e51d598cf	183	}
shintamainjp	1:167e51d598cf	184	wait(1);
shintamainjp	1:167e51d598cf	185	if (!RECVFUNC(pkghead, sizeof(pkghead))) {
shintamainjp	1:167e51d598cf	186	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	187	}
shintamainjp	1:167e51d598cf	188	int id = (pkghead[1] << 8) \| (pkghead[0] << 0);
shintamainjp	1:167e51d598cf	189	int sz = (pkghead[3] << 8) \| (pkghead[2] << 0);
shintamainjp	1:167e51d598cf	190	debout.printf("Received/Total %d/%d bytes, Current package data size is %d.\n", rcvcnt, imgsiz, sz);
shintamainjp	1:167e51d598cf	191	char pkgdata[pkgsiz];
shintamainjp	1:167e51d598cf	192	if (!RECVFUNC(pkgdata, sizeof(pkgdata))) {
shintamainjp	1:167e51d598cf	193	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	194	}
shintamainjp	1:167e51d598cf	195	if (!RECVFUNC(pkgtail, sizeof(pkgtail))) {
shintamainjp	1:167e51d598cf	196	return (ErrorNumber)UnexpectedReply;
shintamainjp	1:167e51d598cf	197	}
shintamainjp	1:167e51d598cf	198	rcvcnt+=sz;
shintamainjp	1:167e51d598cf	199	pkgcnt++;
shintamainjp	1:167e51d598cf	200	}
shintamainjp	1:167e51d598cf	201
shintamainjp	1:167e51d598cf	202	return (ErrorNumber)NoError;
shintamainjp	1:167e51d598cf	203	}
shintamainjp	1:167e51d598cf	204
shintamainjp	1:167e51d598cf	205	/**
shintamainjp	1:167e51d598cf	206	* Send bytes to camera module.
shintamainjp	1:167e51d598cf	207	*
shintamainjp	1:167e51d598cf	208	* @param buf Pointer to the data buffer.
shintamainjp	1:167e51d598cf	209	* @param len Length of the data buffer.
shintamainjp	1:167e51d598cf	210	*
shintamainjp	1:167e51d598cf	211	* @return True if the data sended.
shintamainjp	1:167e51d598cf	212	*/
shintamainjp	1:167e51d598cf	213	bool CameraC328::sendBytes(char *buf, size_t len) {
shintamainjp	1:167e51d598cf	214	for (int i = 0; i < (int)len; i++) {
shintamainjp	1:167e51d598cf	215	int cnt = 0;
shintamainjp	1:167e51d598cf	216	while (!serial.writeable()) {
shintamainjp	1:167e51d598cf	217	wait(0.001);
shintamainjp	1:167e51d598cf	218	cnt++;
shintamainjp	1:167e51d598cf	219	if (TIMEOUT_MS < cnt) {
shintamainjp	1:167e51d598cf	220	return false;
shintamainjp	1:167e51d598cf	221	}
shintamainjp	1:167e51d598cf	222	}
shintamainjp	1:167e51d598cf	223	serial.putc(buf[i]);
shintamainjp	1:167e51d598cf	224	}
shintamainjp	1:167e51d598cf	225	return true;
shintamainjp	1:167e51d598cf	226	}
shintamainjp	1:167e51d598cf	227
shintamainjp	1:167e51d598cf	228	/**
shintamainjp	1:167e51d598cf	229	* Receive bytes from camera module.
shintamainjp	1:167e51d598cf	230	*
shintamainjp	1:167e51d598cf	231	* @param buf Pointer to the data buffer.
shintamainjp	1:167e51d598cf	232	* @param len Length of the data buffer.
shintamainjp	1:167e51d598cf	233	*
shintamainjp	1:167e51d598cf	234	* @return True if the data received.
shintamainjp	1:167e51d598cf	235	*/
shintamainjp	1:167e51d598cf	236	bool CameraC328::recvBytes(char *buf, size_t len) {
shintamainjp	1:167e51d598cf	237	for (int i = 0; i < (int)len; i++) {
shintamainjp	1:167e51d598cf	238	int cnt = 0;
shintamainjp	1:167e51d598cf	239	while (!serial.readable()) {
shintamainjp	1:167e51d598cf	240	wait(0.001);
shintamainjp	1:167e51d598cf	241	cnt++;
shintamainjp	1:167e51d598cf	242	if (TIMEOUT_MS < cnt) {
shintamainjp	1:167e51d598cf	243	return false;
shintamainjp	1:167e51d598cf	244	}
shintamainjp	1:167e51d598cf	245	}
shintamainjp	1:167e51d598cf	246	buf[i] = serial.getc();
shintamainjp	1:167e51d598cf	247	}
shintamainjp	1:167e51d598cf	248	return true;
shintamainjp	1:167e51d598cf	249	}
shintamainjp	1:167e51d598cf	250
shintamainjp	1:167e51d598cf	251	/**
shintamainjp	1:167e51d598cf	252	* Send bytes to camera module.
shintamainjp	1:167e51d598cf	253	*
shintamainjp	1:167e51d598cf	254	* @param buf Pointer to the data buffer.
shintamainjp	1:167e51d598cf	255	* @param len Length of the data buffer.
shintamainjp	1:167e51d598cf	256	*
shintamainjp	1:167e51d598cf	257	* @return True if the data sended.
shintamainjp	1:167e51d598cf	258	*/
shintamainjp	1:167e51d598cf	259	bool CameraC328::sendBytesWithDebugOutput(char *buf, size_t len) {
shintamainjp	1:167e51d598cf	260	debout.printf("SEND : ");
shintamainjp	1:167e51d598cf	261	for (int i = 0; i < (int)len; i++) {
shintamainjp	1:167e51d598cf	262	int cnt = 0;
shintamainjp	1:167e51d598cf	263	while (!serial.writeable()) {
shintamainjp	1:167e51d598cf	264	wait(0.001);
shintamainjp	1:167e51d598cf	265	cnt++;
shintamainjp	1:167e51d598cf	266	if (TIMEOUT_MS < cnt) {
shintamainjp	1:167e51d598cf	267	debout.printf(" [Timed out]\n");
shintamainjp	1:167e51d598cf	268	return false;
shintamainjp	1:167e51d598cf	269	}
shintamainjp	1:167e51d598cf	270	}
shintamainjp	1:167e51d598cf	271	serial.putc(buf[i]);
shintamainjp	1:167e51d598cf	272	debout.printf(" %02X", buf[i]);
shintamainjp	1:167e51d598cf	273	}
shintamainjp	1:167e51d598cf	274	debout.printf(" [OK]\n");
shintamainjp	1:167e51d598cf	275	return true;
shintamainjp	1:167e51d598cf	276	}
shintamainjp	1:167e51d598cf	277
shintamainjp	1:167e51d598cf	278	/**
shintamainjp	1:167e51d598cf	279	* Receive bytes from camera module.
shintamainjp	1:167e51d598cf	280	*
shintamainjp	1:167e51d598cf	281	* @param buf Pointer to the data buffer.
shintamainjp	1:167e51d598cf	282	* @param len Length of the data buffer.
shintamainjp	1:167e51d598cf	283	*
shintamainjp	1:167e51d598cf	284	* @return True if the data received.
shintamainjp	1:167e51d598cf	285	*/
shintamainjp	1:167e51d598cf	286	bool CameraC328::recvBytesWithDebugOutput(char *buf, size_t len) {
shintamainjp	1:167e51d598cf	287	debout.printf("RECV : ");
shintamainjp	1:167e51d598cf	288	for (int i = 0; i < (int)len; i++) {
shintamainjp	1:167e51d598cf	289	int cnt = 0;
shintamainjp	1:167e51d598cf	290	while (!serial.readable()) {
shintamainjp	1:167e51d598cf	291	wait(0.001);
shintamainjp	1:167e51d598cf	292	cnt++;
shintamainjp	1:167e51d598cf	293	if (TIMEOUT_MS < cnt) {
shintamainjp	1:167e51d598cf	294	debout.printf(" [Timed out]\n");
shintamainjp	1:167e51d598cf	295	return false;
shintamainjp	1:167e51d598cf	296	}
shintamainjp	1:167e51d598cf	297	}
shintamainjp	1:167e51d598cf	298	buf[i] = serial.getc();
shintamainjp	1:167e51d598cf	299	debout.printf(" %02X", buf[i]);
shintamainjp	1:167e51d598cf	300	}
shintamainjp	1:167e51d598cf	301	debout.printf(" [OK]\n");
shintamainjp	1:167e51d598cf	302	return true;
shintamainjp	1:167e51d598cf	303	}

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Type:	Library
Created:	27 Jun 2010
Imports:	223
Forks:	1
Commits:	16
Dependents:	15
Dependencies:	0
Followers:	8

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CameraC328

CameraC328.cpp@1:167e51d598cf, 2010-06-27 (annotated)

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