CameraC328
Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more
CameraC328.cpp@15:49cfda6c547f, 2010-10-13 (annotated)
- Committer:
- shintamainjp
- Date:
- Wed Oct 13 10:45:29 2010 +0000
- Revision:
- 15:49cfda6c547f
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shintamainjp | 15:49cfda6c547f | 1 | /** |
shintamainjp | 15:49cfda6c547f | 2 | * C328-7640 device driver class (Version 0.0.6) |
shintamainjp | 15:49cfda6c547f | 3 | * Reference documents: C328-7640 User Manual v3.0 2004.8.19 |
shintamainjp | 15:49cfda6c547f | 4 | * |
shintamainjp | 15:49cfda6c547f | 5 | * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems) |
shintamainjp | 15:49cfda6c547f | 6 | * http://shinta.main.jp/ |
shintamainjp | 15:49cfda6c547f | 7 | */ |
shintamainjp | 15:49cfda6c547f | 8 | |
shintamainjp | 15:49cfda6c547f | 9 | #include "CameraC328.h" |
shintamainjp | 15:49cfda6c547f | 10 | |
shintamainjp | 15:49cfda6c547f | 11 | #define WAITIDLE waitIdle |
shintamainjp | 15:49cfda6c547f | 12 | #define SENDFUNC sendBytes |
shintamainjp | 15:49cfda6c547f | 13 | #define RECVFUNC recvBytes |
shintamainjp | 15:49cfda6c547f | 14 | #define WAITFUNC waitRecv |
shintamainjp | 15:49cfda6c547f | 15 | |
shintamainjp | 15:49cfda6c547f | 16 | /** |
shintamainjp | 15:49cfda6c547f | 17 | * Constructor. |
shintamainjp | 15:49cfda6c547f | 18 | * |
shintamainjp | 15:49cfda6c547f | 19 | * @param tx A pin for transmit. |
shintamainjp | 15:49cfda6c547f | 20 | * @param rx A pin for receive. |
shintamainjp | 15:49cfda6c547f | 21 | * @param baud Baud rate. (Default is Baud19200.) |
shintamainjp | 15:49cfda6c547f | 22 | */ |
shintamainjp | 15:49cfda6c547f | 23 | CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) { |
shintamainjp | 15:49cfda6c547f | 24 | serial.baud((int)baud); |
shintamainjp | 15:49cfda6c547f | 25 | } |
shintamainjp | 15:49cfda6c547f | 26 | |
shintamainjp | 15:49cfda6c547f | 27 | /** |
shintamainjp | 15:49cfda6c547f | 28 | * Destructor. |
shintamainjp | 15:49cfda6c547f | 29 | */ |
shintamainjp | 15:49cfda6c547f | 30 | CameraC328::~CameraC328() { |
shintamainjp | 15:49cfda6c547f | 31 | } |
shintamainjp | 15:49cfda6c547f | 32 | |
shintamainjp | 15:49cfda6c547f | 33 | /** |
shintamainjp | 15:49cfda6c547f | 34 | * Make a sync. for baud rate. |
shintamainjp | 15:49cfda6c547f | 35 | */ |
shintamainjp | 15:49cfda6c547f | 36 | CameraC328::ErrorNumber CameraC328::sync() { |
shintamainjp | 15:49cfda6c547f | 37 | WAITIDLE(); |
shintamainjp | 15:49cfda6c547f | 38 | |
shintamainjp | 15:49cfda6c547f | 39 | for (int i = 0; i < SYNCMAX; i++) { |
shintamainjp | 15:49cfda6c547f | 40 | if (NoError == sendSync()) { |
shintamainjp | 15:49cfda6c547f | 41 | if (NoError == recvAckOrNck()) { |
shintamainjp | 15:49cfda6c547f | 42 | if (NoError == recvSync()) { |
shintamainjp | 15:49cfda6c547f | 43 | if (NoError == sendAck(0x0D, 0x00)) { |
shintamainjp | 15:49cfda6c547f | 44 | /* |
shintamainjp | 15:49cfda6c547f | 45 | * After synchronization, the camera needs a little time for AEC and AGC to be stable. |
shintamainjp | 15:49cfda6c547f | 46 | * Users should wait for 1-2 seconds before capturing the first picture. |
shintamainjp | 15:49cfda6c547f | 47 | */ |
shintamainjp | 15:49cfda6c547f | 48 | wait(2); |
shintamainjp | 15:49cfda6c547f | 49 | return NoError; |
shintamainjp | 15:49cfda6c547f | 50 | } |
shintamainjp | 15:49cfda6c547f | 51 | } |
shintamainjp | 15:49cfda6c547f | 52 | } |
shintamainjp | 15:49cfda6c547f | 53 | } |
shintamainjp | 15:49cfda6c547f | 54 | wait_ms(50); |
shintamainjp | 15:49cfda6c547f | 55 | } |
shintamainjp | 15:49cfda6c547f | 56 | return UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 57 | } |
shintamainjp | 15:49cfda6c547f | 58 | |
shintamainjp | 15:49cfda6c547f | 59 | /** |
shintamainjp | 15:49cfda6c547f | 60 | * Initialize. |
shintamainjp | 15:49cfda6c547f | 61 | * |
shintamainjp | 15:49cfda6c547f | 62 | * @param ct Color type. |
shintamainjp | 15:49cfda6c547f | 63 | * @param rr Raw resolution. |
shintamainjp | 15:49cfda6c547f | 64 | * @param jr JPEG resolution. |
shintamainjp | 15:49cfda6c547f | 65 | */ |
shintamainjp | 15:49cfda6c547f | 66 | CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) { |
shintamainjp | 15:49cfda6c547f | 67 | WAITIDLE(); |
shintamainjp | 15:49cfda6c547f | 68 | ErrorNumber en; |
shintamainjp | 15:49cfda6c547f | 69 | |
shintamainjp | 15:49cfda6c547f | 70 | en = sendInitial(ct, rr, jr); |
shintamainjp | 15:49cfda6c547f | 71 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 72 | return en; |
shintamainjp | 15:49cfda6c547f | 73 | } |
shintamainjp | 15:49cfda6c547f | 74 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 75 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 76 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 77 | return en; |
shintamainjp | 15:49cfda6c547f | 78 | } |
shintamainjp | 15:49cfda6c547f | 79 | |
shintamainjp | 15:49cfda6c547f | 80 | static bool alreadySetupPackageSize = false; |
shintamainjp | 15:49cfda6c547f | 81 | if (!alreadySetupPackageSize) { |
shintamainjp | 15:49cfda6c547f | 82 | en = sendSetPackageSize(packageSize); |
shintamainjp | 15:49cfda6c547f | 83 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 84 | return en; |
shintamainjp | 15:49cfda6c547f | 85 | } |
shintamainjp | 15:49cfda6c547f | 86 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 87 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 88 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 89 | return en; |
shintamainjp | 15:49cfda6c547f | 90 | } |
shintamainjp | 15:49cfda6c547f | 91 | alreadySetupPackageSize = true; |
shintamainjp | 15:49cfda6c547f | 92 | } |
shintamainjp | 15:49cfda6c547f | 93 | |
shintamainjp | 15:49cfda6c547f | 94 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 95 | } |
shintamainjp | 15:49cfda6c547f | 96 | |
shintamainjp | 15:49cfda6c547f | 97 | /** |
shintamainjp | 15:49cfda6c547f | 98 | * Get uncompressed snapshot picture. |
shintamainjp | 15:49cfda6c547f | 99 | * |
shintamainjp | 15:49cfda6c547f | 100 | * @param func A pointer to a callback function. |
shintamainjp | 15:49cfda6c547f | 101 | * Please do NOT block this callback function. |
shintamainjp | 15:49cfda6c547f | 102 | * Because the camera module transmit image datas continuously. |
shintamainjp | 15:49cfda6c547f | 103 | * @return Status of the error. |
shintamainjp | 15:49cfda6c547f | 104 | */ |
shintamainjp | 15:49cfda6c547f | 105 | CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) { |
shintamainjp | 15:49cfda6c547f | 106 | WAITIDLE(); |
shintamainjp | 15:49cfda6c547f | 107 | ErrorNumber en; |
shintamainjp | 15:49cfda6c547f | 108 | |
shintamainjp | 15:49cfda6c547f | 109 | en = sendSnapshot(UncompressedPicture, 0); |
shintamainjp | 15:49cfda6c547f | 110 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 111 | return en; |
shintamainjp | 15:49cfda6c547f | 112 | } |
shintamainjp | 15:49cfda6c547f | 113 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 114 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 115 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 116 | return en; |
shintamainjp | 15:49cfda6c547f | 117 | } |
shintamainjp | 15:49cfda6c547f | 118 | |
shintamainjp | 15:49cfda6c547f | 119 | en = sendGetPicture(SnapshotPicture); |
shintamainjp | 15:49cfda6c547f | 120 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 121 | return en; |
shintamainjp | 15:49cfda6c547f | 122 | } |
shintamainjp | 15:49cfda6c547f | 123 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 124 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 125 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 126 | return en; |
shintamainjp | 15:49cfda6c547f | 127 | } |
shintamainjp | 15:49cfda6c547f | 128 | |
shintamainjp | 15:49cfda6c547f | 129 | /* |
shintamainjp | 15:49cfda6c547f | 130 | * image data |
shintamainjp | 15:49cfda6c547f | 131 | */ |
shintamainjp | 15:49cfda6c547f | 132 | DataType dt; |
shintamainjp | 15:49cfda6c547f | 133 | uint32_t length = 0; |
shintamainjp | 15:49cfda6c547f | 134 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 135 | en = recvData(&dt, &length); |
shintamainjp | 15:49cfda6c547f | 136 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 137 | return en; |
shintamainjp | 15:49cfda6c547f | 138 | } |
shintamainjp | 15:49cfda6c547f | 139 | size_t imgcnt = 0; |
shintamainjp | 15:49cfda6c547f | 140 | for (int i = 0; i < (int)length; i++) { |
shintamainjp | 15:49cfda6c547f | 141 | char c; |
shintamainjp | 15:49cfda6c547f | 142 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 143 | if (!RECVFUNC(&c, 1)) { |
shintamainjp | 15:49cfda6c547f | 144 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 145 | } |
shintamainjp | 15:49cfda6c547f | 146 | imgcnt++; |
shintamainjp | 15:49cfda6c547f | 147 | |
shintamainjp | 15:49cfda6c547f | 148 | /* |
shintamainjp | 15:49cfda6c547f | 149 | * Call a call back function. |
shintamainjp | 15:49cfda6c547f | 150 | * Please do not block this function. |
shintamainjp | 15:49cfda6c547f | 151 | */ |
shintamainjp | 15:49cfda6c547f | 152 | func(imgcnt, length, c); |
shintamainjp | 15:49cfda6c547f | 153 | } |
shintamainjp | 15:49cfda6c547f | 154 | |
shintamainjp | 15:49cfda6c547f | 155 | /* |
shintamainjp | 15:49cfda6c547f | 156 | * ACK |
shintamainjp | 15:49cfda6c547f | 157 | */ |
shintamainjp | 15:49cfda6c547f | 158 | en = sendAck(0x0A, 0x00); |
shintamainjp | 15:49cfda6c547f | 159 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 160 | return en; |
shintamainjp | 15:49cfda6c547f | 161 | } |
shintamainjp | 15:49cfda6c547f | 162 | |
shintamainjp | 15:49cfda6c547f | 163 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 164 | } |
shintamainjp | 15:49cfda6c547f | 165 | |
shintamainjp | 15:49cfda6c547f | 166 | /** |
shintamainjp | 15:49cfda6c547f | 167 | * Get uncompressed preview picture. |
shintamainjp | 15:49cfda6c547f | 168 | * |
shintamainjp | 15:49cfda6c547f | 169 | * @param func A pointer to a callback function. |
shintamainjp | 15:49cfda6c547f | 170 | * Please do NOT block this callback function. |
shintamainjp | 15:49cfda6c547f | 171 | * Because the camera module transmit image datas continuously. |
shintamainjp | 15:49cfda6c547f | 172 | * @return Status of the error. |
shintamainjp | 15:49cfda6c547f | 173 | */ |
shintamainjp | 15:49cfda6c547f | 174 | CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) { |
shintamainjp | 15:49cfda6c547f | 175 | WAITIDLE(); |
shintamainjp | 15:49cfda6c547f | 176 | ErrorNumber en; |
shintamainjp | 15:49cfda6c547f | 177 | |
shintamainjp | 15:49cfda6c547f | 178 | en = sendGetPicture(PreviewPicture); |
shintamainjp | 15:49cfda6c547f | 179 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 180 | return en; |
shintamainjp | 15:49cfda6c547f | 181 | } |
shintamainjp | 15:49cfda6c547f | 182 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 183 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 184 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 185 | return en; |
shintamainjp | 15:49cfda6c547f | 186 | } |
shintamainjp | 15:49cfda6c547f | 187 | |
shintamainjp | 15:49cfda6c547f | 188 | /* |
shintamainjp | 15:49cfda6c547f | 189 | * image data |
shintamainjp | 15:49cfda6c547f | 190 | */ |
shintamainjp | 15:49cfda6c547f | 191 | DataType dt; |
shintamainjp | 15:49cfda6c547f | 192 | uint32_t length = 0; |
shintamainjp | 15:49cfda6c547f | 193 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 194 | en = recvData(&dt, &length); |
shintamainjp | 15:49cfda6c547f | 195 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 196 | return en; |
shintamainjp | 15:49cfda6c547f | 197 | } |
shintamainjp | 15:49cfda6c547f | 198 | size_t imgcnt = 0; |
shintamainjp | 15:49cfda6c547f | 199 | for (int i = 0; i < (int)length; i++) { |
shintamainjp | 15:49cfda6c547f | 200 | char c; |
shintamainjp | 15:49cfda6c547f | 201 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 202 | if (!RECVFUNC(&c, 1)) { |
shintamainjp | 15:49cfda6c547f | 203 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 204 | } |
shintamainjp | 15:49cfda6c547f | 205 | imgcnt++; |
shintamainjp | 15:49cfda6c547f | 206 | |
shintamainjp | 15:49cfda6c547f | 207 | /* |
shintamainjp | 15:49cfda6c547f | 208 | * Call a call back function. |
shintamainjp | 15:49cfda6c547f | 209 | * Please do not block this function. |
shintamainjp | 15:49cfda6c547f | 210 | */ |
shintamainjp | 15:49cfda6c547f | 211 | func(imgcnt, length, c); |
shintamainjp | 15:49cfda6c547f | 212 | } |
shintamainjp | 15:49cfda6c547f | 213 | |
shintamainjp | 15:49cfda6c547f | 214 | /* |
shintamainjp | 15:49cfda6c547f | 215 | * ACK |
shintamainjp | 15:49cfda6c547f | 216 | */ |
shintamainjp | 15:49cfda6c547f | 217 | en = sendAck(0x0A, 0x00); |
shintamainjp | 15:49cfda6c547f | 218 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 219 | return en; |
shintamainjp | 15:49cfda6c547f | 220 | } |
shintamainjp | 15:49cfda6c547f | 221 | |
shintamainjp | 15:49cfda6c547f | 222 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 223 | } |
shintamainjp | 15:49cfda6c547f | 224 | |
shintamainjp | 15:49cfda6c547f | 225 | /** |
shintamainjp | 15:49cfda6c547f | 226 | * Get JPEG snapshot picture. |
shintamainjp | 15:49cfda6c547f | 227 | * |
shintamainjp | 15:49cfda6c547f | 228 | * @param func A pointer to a callback function. |
shintamainjp | 15:49cfda6c547f | 229 | * You can block this function until saving the image datas. |
shintamainjp | 15:49cfda6c547f | 230 | * @return Status of the error. |
shintamainjp | 15:49cfda6c547f | 231 | */ |
shintamainjp | 15:49cfda6c547f | 232 | CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) { |
shintamainjp | 15:49cfda6c547f | 233 | WAITIDLE(); |
shintamainjp | 15:49cfda6c547f | 234 | ErrorNumber en; |
shintamainjp | 15:49cfda6c547f | 235 | |
shintamainjp | 15:49cfda6c547f | 236 | en = sendSnapshot(CompressedPicture, 1); |
shintamainjp | 15:49cfda6c547f | 237 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 238 | return en; |
shintamainjp | 15:49cfda6c547f | 239 | } |
shintamainjp | 15:49cfda6c547f | 240 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 241 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 242 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 243 | return en; |
shintamainjp | 15:49cfda6c547f | 244 | } |
shintamainjp | 15:49cfda6c547f | 245 | |
shintamainjp | 15:49cfda6c547f | 246 | en = sendGetPicture(SnapshotPicture); |
shintamainjp | 15:49cfda6c547f | 247 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 248 | return en; |
shintamainjp | 15:49cfda6c547f | 249 | } |
shintamainjp | 15:49cfda6c547f | 250 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 251 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 252 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 253 | return en; |
shintamainjp | 15:49cfda6c547f | 254 | } |
shintamainjp | 15:49cfda6c547f | 255 | |
shintamainjp | 15:49cfda6c547f | 256 | /* |
shintamainjp | 15:49cfda6c547f | 257 | * Data : snapshot picture |
shintamainjp | 15:49cfda6c547f | 258 | */ |
shintamainjp | 15:49cfda6c547f | 259 | DataType dt; |
shintamainjp | 15:49cfda6c547f | 260 | uint32_t length = 0; |
shintamainjp | 15:49cfda6c547f | 261 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 262 | en = recvData(&dt, &length); |
shintamainjp | 15:49cfda6c547f | 263 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 264 | return en; |
shintamainjp | 15:49cfda6c547f | 265 | } |
shintamainjp | 15:49cfda6c547f | 266 | en = sendAck(0x00, 0); |
shintamainjp | 15:49cfda6c547f | 267 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 268 | return en; |
shintamainjp | 15:49cfda6c547f | 269 | } |
shintamainjp | 15:49cfda6c547f | 270 | |
shintamainjp | 15:49cfda6c547f | 271 | char databuf[packageSize - 6]; |
shintamainjp | 15:49cfda6c547f | 272 | uint16_t pkg_total = length / (packageSize - 6); |
shintamainjp | 15:49cfda6c547f | 273 | for (int i = 0; i <= (int)pkg_total; i++) { |
shintamainjp | 15:49cfda6c547f | 274 | uint16_t checksum = 0; |
shintamainjp | 15:49cfda6c547f | 275 | // ID. |
shintamainjp | 15:49cfda6c547f | 276 | char idbuf[2]; |
shintamainjp | 15:49cfda6c547f | 277 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 278 | if (!RECVFUNC(idbuf, sizeof(idbuf))) { |
shintamainjp | 15:49cfda6c547f | 279 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 280 | } |
shintamainjp | 15:49cfda6c547f | 281 | checksum += idbuf[0]; |
shintamainjp | 15:49cfda6c547f | 282 | checksum += idbuf[1]; |
shintamainjp | 15:49cfda6c547f | 283 | uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); |
shintamainjp | 15:49cfda6c547f | 284 | if (id != i) { |
shintamainjp | 15:49cfda6c547f | 285 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 286 | } |
shintamainjp | 15:49cfda6c547f | 287 | |
shintamainjp | 15:49cfda6c547f | 288 | // Size of the data. |
shintamainjp | 15:49cfda6c547f | 289 | char dsbuf[2]; |
shintamainjp | 15:49cfda6c547f | 290 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 291 | if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { |
shintamainjp | 15:49cfda6c547f | 292 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 293 | } |
shintamainjp | 15:49cfda6c547f | 294 | |
shintamainjp | 15:49cfda6c547f | 295 | // Received the data. |
shintamainjp | 15:49cfda6c547f | 296 | checksum += dsbuf[0]; |
shintamainjp | 15:49cfda6c547f | 297 | checksum += dsbuf[1]; |
shintamainjp | 15:49cfda6c547f | 298 | uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); |
shintamainjp | 15:49cfda6c547f | 299 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 300 | if (!RECVFUNC(&databuf[0], ds)) { |
shintamainjp | 15:49cfda6c547f | 301 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 302 | } |
shintamainjp | 15:49cfda6c547f | 303 | for (int j = 0; j < ds; j++) { |
shintamainjp | 15:49cfda6c547f | 304 | checksum += databuf[j]; |
shintamainjp | 15:49cfda6c547f | 305 | } |
shintamainjp | 15:49cfda6c547f | 306 | |
shintamainjp | 15:49cfda6c547f | 307 | // Verify code. |
shintamainjp | 15:49cfda6c547f | 308 | char vcbuf[2]; |
shintamainjp | 15:49cfda6c547f | 309 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 310 | if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { |
shintamainjp | 15:49cfda6c547f | 311 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 312 | } |
shintamainjp | 15:49cfda6c547f | 313 | uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); |
shintamainjp | 15:49cfda6c547f | 314 | if (vc != (checksum & 0xff)) { |
shintamainjp | 15:49cfda6c547f | 315 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 316 | } |
shintamainjp | 15:49cfda6c547f | 317 | |
shintamainjp | 15:49cfda6c547f | 318 | /* |
shintamainjp | 15:49cfda6c547f | 319 | * Call a call back function. |
shintamainjp | 15:49cfda6c547f | 320 | * You can block this function while working. |
shintamainjp | 15:49cfda6c547f | 321 | */ |
shintamainjp | 15:49cfda6c547f | 322 | func(databuf, ds); |
shintamainjp | 15:49cfda6c547f | 323 | |
shintamainjp | 15:49cfda6c547f | 324 | /* |
shintamainjp | 15:49cfda6c547f | 325 | * We should wait for camera working before reply a ACK. |
shintamainjp | 15:49cfda6c547f | 326 | */ |
shintamainjp | 15:49cfda6c547f | 327 | wait_ms(100); |
shintamainjp | 15:49cfda6c547f | 328 | en = sendAck(0x00, 1 + i); |
shintamainjp | 15:49cfda6c547f | 329 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 330 | return en; |
shintamainjp | 15:49cfda6c547f | 331 | } |
shintamainjp | 15:49cfda6c547f | 332 | } |
shintamainjp | 15:49cfda6c547f | 333 | |
shintamainjp | 15:49cfda6c547f | 334 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 335 | } |
shintamainjp | 15:49cfda6c547f | 336 | |
shintamainjp | 15:49cfda6c547f | 337 | /** |
shintamainjp | 15:49cfda6c547f | 338 | * Get JPEG preview picture. |
shintamainjp | 15:49cfda6c547f | 339 | * |
shintamainjp | 15:49cfda6c547f | 340 | * @param func A pointer to a callback function. |
shintamainjp | 15:49cfda6c547f | 341 | * You can block this function until saving the image datas. |
shintamainjp | 15:49cfda6c547f | 342 | * @return Status of the error. |
shintamainjp | 15:49cfda6c547f | 343 | */ |
shintamainjp | 15:49cfda6c547f | 344 | CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) { |
shintamainjp | 15:49cfda6c547f | 345 | WAITIDLE(); |
shintamainjp | 15:49cfda6c547f | 346 | ErrorNumber en; |
shintamainjp | 15:49cfda6c547f | 347 | |
shintamainjp | 15:49cfda6c547f | 348 | en = sendGetPicture(JpegPreviewPicture); |
shintamainjp | 15:49cfda6c547f | 349 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 350 | return en; |
shintamainjp | 15:49cfda6c547f | 351 | } |
shintamainjp | 15:49cfda6c547f | 352 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 353 | en = recvAckOrNck(); |
shintamainjp | 15:49cfda6c547f | 354 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 355 | return en; |
shintamainjp | 15:49cfda6c547f | 356 | } |
shintamainjp | 15:49cfda6c547f | 357 | |
shintamainjp | 15:49cfda6c547f | 358 | /* |
shintamainjp | 15:49cfda6c547f | 359 | * Data : JPEG preview picture |
shintamainjp | 15:49cfda6c547f | 360 | */ |
shintamainjp | 15:49cfda6c547f | 361 | DataType dt; |
shintamainjp | 15:49cfda6c547f | 362 | uint32_t length = 0; |
shintamainjp | 15:49cfda6c547f | 363 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 364 | en = recvData(&dt, &length); |
shintamainjp | 15:49cfda6c547f | 365 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 366 | return en; |
shintamainjp | 15:49cfda6c547f | 367 | } |
shintamainjp | 15:49cfda6c547f | 368 | en = sendAck(0x00, 0); |
shintamainjp | 15:49cfda6c547f | 369 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 370 | return en; |
shintamainjp | 15:49cfda6c547f | 371 | } |
shintamainjp | 15:49cfda6c547f | 372 | |
shintamainjp | 15:49cfda6c547f | 373 | char databuf[packageSize - 6]; |
shintamainjp | 15:49cfda6c547f | 374 | uint16_t pkg_total = length / (packageSize - 6); |
shintamainjp | 15:49cfda6c547f | 375 | for (int i = 0; i <= (int)pkg_total; i++) { |
shintamainjp | 15:49cfda6c547f | 376 | uint16_t checksum = 0; |
shintamainjp | 15:49cfda6c547f | 377 | // ID. |
shintamainjp | 15:49cfda6c547f | 378 | char idbuf[2]; |
shintamainjp | 15:49cfda6c547f | 379 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 380 | if (!RECVFUNC(idbuf, sizeof(idbuf))) { |
shintamainjp | 15:49cfda6c547f | 381 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 382 | } |
shintamainjp | 15:49cfda6c547f | 383 | checksum += idbuf[0]; |
shintamainjp | 15:49cfda6c547f | 384 | checksum += idbuf[1]; |
shintamainjp | 15:49cfda6c547f | 385 | uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); |
shintamainjp | 15:49cfda6c547f | 386 | if (id != i) { |
shintamainjp | 15:49cfda6c547f | 387 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 388 | } |
shintamainjp | 15:49cfda6c547f | 389 | |
shintamainjp | 15:49cfda6c547f | 390 | // Size of the data. |
shintamainjp | 15:49cfda6c547f | 391 | char dsbuf[2]; |
shintamainjp | 15:49cfda6c547f | 392 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 393 | if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { |
shintamainjp | 15:49cfda6c547f | 394 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 395 | } |
shintamainjp | 15:49cfda6c547f | 396 | |
shintamainjp | 15:49cfda6c547f | 397 | // Received the data. |
shintamainjp | 15:49cfda6c547f | 398 | checksum += dsbuf[0]; |
shintamainjp | 15:49cfda6c547f | 399 | checksum += dsbuf[1]; |
shintamainjp | 15:49cfda6c547f | 400 | uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); |
shintamainjp | 15:49cfda6c547f | 401 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 402 | if (!RECVFUNC(&databuf[0], ds)) { |
shintamainjp | 15:49cfda6c547f | 403 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 404 | } |
shintamainjp | 15:49cfda6c547f | 405 | for (int j = 0; j < ds; j++) { |
shintamainjp | 15:49cfda6c547f | 406 | checksum += databuf[j]; |
shintamainjp | 15:49cfda6c547f | 407 | } |
shintamainjp | 15:49cfda6c547f | 408 | |
shintamainjp | 15:49cfda6c547f | 409 | // Verify code. |
shintamainjp | 15:49cfda6c547f | 410 | char vcbuf[2]; |
shintamainjp | 15:49cfda6c547f | 411 | WAITFUNC(); |
shintamainjp | 15:49cfda6c547f | 412 | if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { |
shintamainjp | 15:49cfda6c547f | 413 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 414 | } |
shintamainjp | 15:49cfda6c547f | 415 | uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); |
shintamainjp | 15:49cfda6c547f | 416 | if (vc != (checksum & 0xff)) { |
shintamainjp | 15:49cfda6c547f | 417 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 418 | } |
shintamainjp | 15:49cfda6c547f | 419 | |
shintamainjp | 15:49cfda6c547f | 420 | /* |
shintamainjp | 15:49cfda6c547f | 421 | * Call a call back function. |
shintamainjp | 15:49cfda6c547f | 422 | * You can block this function while working. |
shintamainjp | 15:49cfda6c547f | 423 | */ |
shintamainjp | 15:49cfda6c547f | 424 | func(databuf, ds); |
shintamainjp | 15:49cfda6c547f | 425 | |
shintamainjp | 15:49cfda6c547f | 426 | /* |
shintamainjp | 15:49cfda6c547f | 427 | * We should wait for camera working before reply a ACK. |
shintamainjp | 15:49cfda6c547f | 428 | */ |
shintamainjp | 15:49cfda6c547f | 429 | wait_ms(100); |
shintamainjp | 15:49cfda6c547f | 430 | en = sendAck(0x00, 1 + i); |
shintamainjp | 15:49cfda6c547f | 431 | if (NoError != en) { |
shintamainjp | 15:49cfda6c547f | 432 | return en; |
shintamainjp | 15:49cfda6c547f | 433 | } |
shintamainjp | 15:49cfda6c547f | 434 | } |
shintamainjp | 15:49cfda6c547f | 435 | |
shintamainjp | 15:49cfda6c547f | 436 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 437 | } |
shintamainjp | 15:49cfda6c547f | 438 | |
shintamainjp | 15:49cfda6c547f | 439 | CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) { |
shintamainjp | 15:49cfda6c547f | 440 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 441 | |
shintamainjp | 15:49cfda6c547f | 442 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 443 | send[1] = 0x01; |
shintamainjp | 15:49cfda6c547f | 444 | send[2] = 0x00; |
shintamainjp | 15:49cfda6c547f | 445 | send[3] = (char)ct; |
shintamainjp | 15:49cfda6c547f | 446 | send[4] = (char)rr; |
shintamainjp | 15:49cfda6c547f | 447 | send[5] = (char)jr; |
shintamainjp | 15:49cfda6c547f | 448 | |
shintamainjp | 15:49cfda6c547f | 449 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 450 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 451 | } |
shintamainjp | 15:49cfda6c547f | 452 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 453 | } |
shintamainjp | 15:49cfda6c547f | 454 | |
shintamainjp | 15:49cfda6c547f | 455 | CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) { |
shintamainjp | 15:49cfda6c547f | 456 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 457 | |
shintamainjp | 15:49cfda6c547f | 458 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 459 | send[1] = 0x04; |
shintamainjp | 15:49cfda6c547f | 460 | send[2] = (char)pt; |
shintamainjp | 15:49cfda6c547f | 461 | send[3] = 0x00; |
shintamainjp | 15:49cfda6c547f | 462 | send[4] = 0x00; |
shintamainjp | 15:49cfda6c547f | 463 | send[5] = 0x00; |
shintamainjp | 15:49cfda6c547f | 464 | |
shintamainjp | 15:49cfda6c547f | 465 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 466 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 467 | } |
shintamainjp | 15:49cfda6c547f | 468 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 469 | } |
shintamainjp | 15:49cfda6c547f | 470 | |
shintamainjp | 15:49cfda6c547f | 471 | CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) { |
shintamainjp | 15:49cfda6c547f | 472 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 473 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 474 | send[1] = 0x05; |
shintamainjp | 15:49cfda6c547f | 475 | send[2] = (char)st; |
shintamainjp | 15:49cfda6c547f | 476 | send[3] = (skipFrames >> 0) & 0xff; |
shintamainjp | 15:49cfda6c547f | 477 | send[4] = (skipFrames >> 8) & 0xff; |
shintamainjp | 15:49cfda6c547f | 478 | send[5] = 0x00; |
shintamainjp | 15:49cfda6c547f | 479 | |
shintamainjp | 15:49cfda6c547f | 480 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 481 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 482 | } |
shintamainjp | 15:49cfda6c547f | 483 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 484 | } |
shintamainjp | 15:49cfda6c547f | 485 | |
shintamainjp | 15:49cfda6c547f | 486 | CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) { |
shintamainjp | 15:49cfda6c547f | 487 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 488 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 489 | send[1] = 0x06; |
shintamainjp | 15:49cfda6c547f | 490 | send[2] = 0x08; |
shintamainjp | 15:49cfda6c547f | 491 | send[3] = (packageSize >> 0) & 0xff; |
shintamainjp | 15:49cfda6c547f | 492 | send[4] = (packageSize >> 8) & 0xff; |
shintamainjp | 15:49cfda6c547f | 493 | send[5] = 0x00; |
shintamainjp | 15:49cfda6c547f | 494 | |
shintamainjp | 15:49cfda6c547f | 495 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 496 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 497 | } |
shintamainjp | 15:49cfda6c547f | 498 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 499 | } |
shintamainjp | 15:49cfda6c547f | 500 | |
shintamainjp | 15:49cfda6c547f | 501 | CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) { |
shintamainjp | 15:49cfda6c547f | 502 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 503 | |
shintamainjp | 15:49cfda6c547f | 504 | static struct baud_list { |
shintamainjp | 15:49cfda6c547f | 505 | Baud baud; |
shintamainjp | 15:49cfda6c547f | 506 | uint8_t div1st; |
shintamainjp | 15:49cfda6c547f | 507 | uint8_t div2nd; |
shintamainjp | 15:49cfda6c547f | 508 | } baudtable [] = { |
shintamainjp | 15:49cfda6c547f | 509 | { Baud7200, 0xff, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 510 | { Baud9600, 0xbf, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 511 | { Baud14400, 0x7f, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 512 | { Baud19200, 0x5f, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 513 | { Baud28800, 0x3f, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 514 | { Baud38400, 0x2f, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 515 | { Baud57600, 0x1f, 0x01 }, |
shintamainjp | 15:49cfda6c547f | 516 | { Baud115200, 0x0f, 0x01 } |
shintamainjp | 15:49cfda6c547f | 517 | }; |
shintamainjp | 15:49cfda6c547f | 518 | |
shintamainjp | 15:49cfda6c547f | 519 | uint8_t div1st = 0x00, div2nd = 0x00; |
shintamainjp | 15:49cfda6c547f | 520 | struct baud_list *p = &baudtable[0]; |
shintamainjp | 15:49cfda6c547f | 521 | for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) { |
shintamainjp | 15:49cfda6c547f | 522 | if (p->baud == baud) { |
shintamainjp | 15:49cfda6c547f | 523 | div1st = p->div1st; |
shintamainjp | 15:49cfda6c547f | 524 | div2nd = p->div2nd; |
shintamainjp | 15:49cfda6c547f | 525 | } |
shintamainjp | 15:49cfda6c547f | 526 | p++; |
shintamainjp | 15:49cfda6c547f | 527 | } |
shintamainjp | 15:49cfda6c547f | 528 | |
shintamainjp | 15:49cfda6c547f | 529 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 530 | send[1] = 0x07; |
shintamainjp | 15:49cfda6c547f | 531 | send[2] = div1st; |
shintamainjp | 15:49cfda6c547f | 532 | send[3] = div2nd; |
shintamainjp | 15:49cfda6c547f | 533 | send[4] = 0x00; |
shintamainjp | 15:49cfda6c547f | 534 | send[5] = 0x00; |
shintamainjp | 15:49cfda6c547f | 535 | |
shintamainjp | 15:49cfda6c547f | 536 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 537 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 538 | } |
shintamainjp | 15:49cfda6c547f | 539 | |
shintamainjp | 15:49cfda6c547f | 540 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 541 | } |
shintamainjp | 15:49cfda6c547f | 542 | |
shintamainjp | 15:49cfda6c547f | 543 | CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) { |
shintamainjp | 15:49cfda6c547f | 544 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 545 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 546 | send[1] = 0x08; |
shintamainjp | 15:49cfda6c547f | 547 | send[2] = (int)rt; |
shintamainjp | 15:49cfda6c547f | 548 | send[3] = 0x00; |
shintamainjp | 15:49cfda6c547f | 549 | send[4] = 0x00; |
shintamainjp | 15:49cfda6c547f | 550 | send[5] = specialReset ? 0xff : 0x00; |
shintamainjp | 15:49cfda6c547f | 551 | /* |
shintamainjp | 15:49cfda6c547f | 552 | * Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately. |
shintamainjp | 15:49cfda6c547f | 553 | */ |
shintamainjp | 15:49cfda6c547f | 554 | |
shintamainjp | 15:49cfda6c547f | 555 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 556 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 557 | } |
shintamainjp | 15:49cfda6c547f | 558 | |
shintamainjp | 15:49cfda6c547f | 559 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 560 | } |
shintamainjp | 15:49cfda6c547f | 561 | |
shintamainjp | 15:49cfda6c547f | 562 | CameraC328::ErrorNumber CameraC328::sendPowerOff() { |
shintamainjp | 15:49cfda6c547f | 563 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 564 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 565 | send[1] = 0x09; |
shintamainjp | 15:49cfda6c547f | 566 | send[2] = 0x00; |
shintamainjp | 15:49cfda6c547f | 567 | send[3] = 0x00; |
shintamainjp | 15:49cfda6c547f | 568 | send[4] = 0x00; |
shintamainjp | 15:49cfda6c547f | 569 | send[5] = 0x00; |
shintamainjp | 15:49cfda6c547f | 570 | |
shintamainjp | 15:49cfda6c547f | 571 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 572 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 573 | } |
shintamainjp | 15:49cfda6c547f | 574 | |
shintamainjp | 15:49cfda6c547f | 575 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 576 | } |
shintamainjp | 15:49cfda6c547f | 577 | |
shintamainjp | 15:49cfda6c547f | 578 | CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) { |
shintamainjp | 15:49cfda6c547f | 579 | char recv[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 580 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 15:49cfda6c547f | 581 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 582 | } |
shintamainjp | 15:49cfda6c547f | 583 | if ((0xAA != recv[0]) || (0x0A != recv[1])) { |
shintamainjp | 15:49cfda6c547f | 584 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 585 | } |
shintamainjp | 15:49cfda6c547f | 586 | *dt = (DataType)recv[2]; |
shintamainjp | 15:49cfda6c547f | 587 | *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0); |
shintamainjp | 15:49cfda6c547f | 588 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 589 | } |
shintamainjp | 15:49cfda6c547f | 590 | |
shintamainjp | 15:49cfda6c547f | 591 | CameraC328::ErrorNumber CameraC328::sendSync() { |
shintamainjp | 15:49cfda6c547f | 592 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 593 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 594 | send[1] = 0x0D; |
shintamainjp | 15:49cfda6c547f | 595 | send[2] = 0x00; |
shintamainjp | 15:49cfda6c547f | 596 | send[3] = 0x00; |
shintamainjp | 15:49cfda6c547f | 597 | send[4] = 0x00; |
shintamainjp | 15:49cfda6c547f | 598 | send[5] = 0x00; |
shintamainjp | 15:49cfda6c547f | 599 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 600 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 601 | } |
shintamainjp | 15:49cfda6c547f | 602 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 603 | } |
shintamainjp | 15:49cfda6c547f | 604 | |
shintamainjp | 15:49cfda6c547f | 605 | CameraC328::ErrorNumber CameraC328::recvSync() { |
shintamainjp | 15:49cfda6c547f | 606 | char recv[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 607 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 15:49cfda6c547f | 608 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 609 | } |
shintamainjp | 15:49cfda6c547f | 610 | if ((0xAA != recv[0]) || (0x0D != recv[1])) { |
shintamainjp | 15:49cfda6c547f | 611 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 612 | } |
shintamainjp | 15:49cfda6c547f | 613 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 614 | } |
shintamainjp | 15:49cfda6c547f | 615 | |
shintamainjp | 15:49cfda6c547f | 616 | /** |
shintamainjp | 15:49cfda6c547f | 617 | * Send ACK. |
shintamainjp | 15:49cfda6c547f | 618 | * |
shintamainjp | 15:49cfda6c547f | 619 | * @param commandId The command with that ID is acknowledged by this command. |
shintamainjp | 15:49cfda6c547f | 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. |
shintamainjp | 15:49cfda6c547f | 621 | */ |
shintamainjp | 15:49cfda6c547f | 622 | CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) { |
shintamainjp | 15:49cfda6c547f | 623 | char send[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 624 | send[0] = 0xAA; |
shintamainjp | 15:49cfda6c547f | 625 | send[1] = 0x0E; |
shintamainjp | 15:49cfda6c547f | 626 | send[2] = commandId; |
shintamainjp | 15:49cfda6c547f | 627 | send[3] = 0x00; // ACK counter is not used. |
shintamainjp | 15:49cfda6c547f | 628 | send[4] = (packageId >> 0) & 0xff; |
shintamainjp | 15:49cfda6c547f | 629 | send[5] = (packageId >> 8) & 0xff; |
shintamainjp | 15:49cfda6c547f | 630 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 15:49cfda6c547f | 631 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 15:49cfda6c547f | 632 | } |
shintamainjp | 15:49cfda6c547f | 633 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 634 | } |
shintamainjp | 15:49cfda6c547f | 635 | |
shintamainjp | 15:49cfda6c547f | 636 | /** |
shintamainjp | 15:49cfda6c547f | 637 | * Receive ACK or NCK. |
shintamainjp | 15:49cfda6c547f | 638 | * |
shintamainjp | 15:49cfda6c547f | 639 | * @return Error number. |
shintamainjp | 15:49cfda6c547f | 640 | */ |
shintamainjp | 15:49cfda6c547f | 641 | CameraC328::ErrorNumber CameraC328::recvAckOrNck() { |
shintamainjp | 15:49cfda6c547f | 642 | char recv[COMMAND_LENGTH]; |
shintamainjp | 15:49cfda6c547f | 643 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 15:49cfda6c547f | 644 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 645 | } |
shintamainjp | 15:49cfda6c547f | 646 | if ((0xAA == recv[0]) && (0x0E == recv[1])) { |
shintamainjp | 15:49cfda6c547f | 647 | return (ErrorNumber)NoError; |
shintamainjp | 15:49cfda6c547f | 648 | } |
shintamainjp | 15:49cfda6c547f | 649 | if ((0xAA == recv[0]) && (0x0F == recv[1])) { |
shintamainjp | 15:49cfda6c547f | 650 | return (ErrorNumber)recv[4]; |
shintamainjp | 15:49cfda6c547f | 651 | } |
shintamainjp | 15:49cfda6c547f | 652 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 15:49cfda6c547f | 653 | } |
shintamainjp | 15:49cfda6c547f | 654 | |
shintamainjp | 15:49cfda6c547f | 655 | /** |
shintamainjp | 15:49cfda6c547f | 656 | * Send bytes to camera module. |
shintamainjp | 15:49cfda6c547f | 657 | * |
shintamainjp | 15:49cfda6c547f | 658 | * @param buf Pointer to the data buffer. |
shintamainjp | 15:49cfda6c547f | 659 | * @param len Length of the data buffer. |
shintamainjp | 15:49cfda6c547f | 660 | * |
shintamainjp | 15:49cfda6c547f | 661 | * @return True if the data sended. |
shintamainjp | 15:49cfda6c547f | 662 | */ |
shintamainjp | 15:49cfda6c547f | 663 | bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) { |
shintamainjp | 15:49cfda6c547f | 664 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
shintamainjp | 15:49cfda6c547f | 665 | int cnt = 0; |
shintamainjp | 15:49cfda6c547f | 666 | while (!serial.writeable()) { |
shintamainjp | 15:49cfda6c547f | 667 | wait_us(1); |
shintamainjp | 15:49cfda6c547f | 668 | cnt++; |
shintamainjp | 15:49cfda6c547f | 669 | if (timeout_us < cnt) { |
shintamainjp | 15:49cfda6c547f | 670 | return false; |
shintamainjp | 15:49cfda6c547f | 671 | } |
shintamainjp | 15:49cfda6c547f | 672 | } |
shintamainjp | 15:49cfda6c547f | 673 | serial.putc(buf[i]); |
shintamainjp | 15:49cfda6c547f | 674 | } |
shintamainjp | 15:49cfda6c547f | 675 | return true; |
shintamainjp | 15:49cfda6c547f | 676 | } |
shintamainjp | 15:49cfda6c547f | 677 | |
shintamainjp | 15:49cfda6c547f | 678 | /** |
shintamainjp | 15:49cfda6c547f | 679 | * Receive bytes from camera module. |
shintamainjp | 15:49cfda6c547f | 680 | * |
shintamainjp | 15:49cfda6c547f | 681 | * @param buf Pointer to the data buffer. |
shintamainjp | 15:49cfda6c547f | 682 | * @param len Length of the data buffer. |
shintamainjp | 15:49cfda6c547f | 683 | * |
shintamainjp | 15:49cfda6c547f | 684 | * @return True if the data received. |
shintamainjp | 15:49cfda6c547f | 685 | */ |
shintamainjp | 15:49cfda6c547f | 686 | bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) { |
shintamainjp | 15:49cfda6c547f | 687 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
shintamainjp | 15:49cfda6c547f | 688 | int cnt = 0; |
shintamainjp | 15:49cfda6c547f | 689 | while (!serial.readable()) { |
shintamainjp | 15:49cfda6c547f | 690 | wait_us(1); |
shintamainjp | 15:49cfda6c547f | 691 | cnt++; |
shintamainjp | 15:49cfda6c547f | 692 | if (timeout_us < cnt) { |
shintamainjp | 15:49cfda6c547f | 693 | return false; |
shintamainjp | 15:49cfda6c547f | 694 | } |
shintamainjp | 15:49cfda6c547f | 695 | } |
shintamainjp | 15:49cfda6c547f | 696 | buf[i] = serial.getc(); |
shintamainjp | 15:49cfda6c547f | 697 | } |
shintamainjp | 15:49cfda6c547f | 698 | return true; |
shintamainjp | 15:49cfda6c547f | 699 | } |
shintamainjp | 15:49cfda6c547f | 700 | |
shintamainjp | 15:49cfda6c547f | 701 | /** |
shintamainjp | 15:49cfda6c547f | 702 | * Wait received. |
shintamainjp | 15:49cfda6c547f | 703 | * |
shintamainjp | 15:49cfda6c547f | 704 | * @return True if the data received. |
shintamainjp | 15:49cfda6c547f | 705 | */ |
shintamainjp | 15:49cfda6c547f | 706 | bool CameraC328::waitRecv() { |
shintamainjp | 15:49cfda6c547f | 707 | while (!serial.readable()) { |
shintamainjp | 15:49cfda6c547f | 708 | } |
shintamainjp | 15:49cfda6c547f | 709 | return true; |
shintamainjp | 15:49cfda6c547f | 710 | } |
shintamainjp | 15:49cfda6c547f | 711 | |
shintamainjp | 15:49cfda6c547f | 712 | /** |
shintamainjp | 15:49cfda6c547f | 713 | * Wait idle state. |
shintamainjp | 15:49cfda6c547f | 714 | */ |
shintamainjp | 15:49cfda6c547f | 715 | bool CameraC328::waitIdle() { |
shintamainjp | 15:49cfda6c547f | 716 | while (serial.readable()) { |
shintamainjp | 15:49cfda6c547f | 717 | serial.getc(); |
shintamainjp | 15:49cfda6c547f | 718 | } |
shintamainjp | 15:49cfda6c547f | 719 | return true; |
shintamainjp | 15:49cfda6c547f | 720 | } |