| User | Revision | Line number | New contents of line |
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| shintamainjp |
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/**
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| shintamainjp |
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* C328-7640 device driver class
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| shintamainjp |
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* Reference documents: C328-7640 User Manual v3.0 2004.8.19
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| shintamainjp |
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*
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| shintamainjp |
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* Version 0.0.1
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| shintamainjp |
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*
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| shintamainjp |
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* Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
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| shintamainjp |
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* shinta.main.jp@gmail.com
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| shintamainjp |
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* http://shinta.main.jp/
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| shintamainjp |
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*/
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| shintamainjp |
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| shintamainjp |
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#include "CameraC328.h"
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| shintamainjp |
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| shintamainjp |
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#define SENDFUNC sendBytes
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| shintamainjp |
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#define RECVFUNC recvBytes
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| shintamainjp |
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#define WAITFUNC waitRecv
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| shintamainjp |
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| shintamainjp |
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CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
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| shintamainjp |
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serial.baud((int)baud);
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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CameraC328::~CameraC328() {
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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CameraC328::ErrorNumber CameraC328::sync() {
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| shintamainjp |
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for (int i = 0; i < SYNCMAX; i++) {
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| shintamainjp |
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if (NoError == sendSync()) {
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| shintamainjp |
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if (NoError == recvAckOrNck()) {
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| shintamainjp |
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if (NoError == recvSync()) {
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| shintamainjp |
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if (NoError == sendAck(0x0D, 0x00)) {
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| shintamainjp |
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/*
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| shintamainjp |
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* After synchronization, the camera needs a little time for AEC and AGC to be stable.
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| shintamainjp |
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* Users should wait for 1-2 seconds before capturing the first picture.
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| shintamainjp |
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*/
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| shintamainjp |
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wait(2);
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| shintamainjp |
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return NoError;
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| shintamainjp |
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}
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| shintamainjp |
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}
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| shintamainjp |
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}
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| shintamainjp |
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}
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| shintamainjp |
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wait_ms(50);
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| shintamainjp |
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}
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| shintamainjp |
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return UnexpectedReply;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
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| shintamainjp |
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ErrorNumber en;
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| shintamainjp |
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| shintamainjp |
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en = sendInitial(ct, rr, jr);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvAckOrNck();
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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return (ErrorNumber)NoError;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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/**
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| shintamainjp |
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* Get uncompressed snapshot picture (uncompressed snapshot picture)
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| shintamainjp |
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*
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| shintamainjp |
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* @param func Pointer to a callback function.
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| shintamainjp |
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* @return Status of the error.
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| shintamainjp |
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*/
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| shintamainjp |
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CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
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| shintamainjp |
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ErrorNumber en;
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| shintamainjp |
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70
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| shintamainjp |
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en = sendSnapshot(UncompressedPicture, 0);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvAckOrNck();
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| shintamainjp |
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77
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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79
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}
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| shintamainjp |
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80
|
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| shintamainjp |
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en = sendGetPicture(SnapshotPicture);
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| shintamainjp |
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82
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if (NoError != en) {
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| shintamainjp |
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83
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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85
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WAITFUNC();
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| shintamainjp |
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86
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en = recvAckOrNck();
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| shintamainjp |
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87
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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|
90
|
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| shintamainjp |
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91
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/*
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| shintamainjp |
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92
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* image data
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| shintamainjp |
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*/
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| shintamainjp |
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94
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DataType dt;
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| shintamainjp |
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95
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uint32_t length = 0;
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvData(&dt, &length);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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size_t imgcnt = 0;
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| shintamainjp |
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for (int i = 0; i < (int)length; i++) {
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| shintamainjp |
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103
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char c;
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| shintamainjp |
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104
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WAITFUNC();
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| shintamainjp |
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105
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if (!RECVFUNC(&c, 1)) {
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| shintamainjp |
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return (ErrorNumber)UnexpectedReply;
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| shintamainjp |
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107
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}
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| shintamainjp |
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108
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imgcnt++;
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| shintamainjp |
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func(imgcnt, length, c);
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| shintamainjp |
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110
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}
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| shintamainjp |
3:6d3150d4396a
|
111
|
|
| shintamainjp |
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|
112
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/*
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| shintamainjp |
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113
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* ACK
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| shintamainjp |
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114
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*/
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| shintamainjp |
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115
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en = sendAck(0x0A, 0x00);
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| shintamainjp |
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|
116
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if (NoError != en) {
|
| shintamainjp |
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117
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return en;
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| shintamainjp |
3:6d3150d4396a
|
118
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}
|
| shintamainjp |
3:6d3150d4396a
|
119
|
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| shintamainjp |
3:6d3150d4396a
|
120
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return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
121
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}
|
| shintamainjp |
3:6d3150d4396a
|
122
|
|
| shintamainjp |
3:6d3150d4396a
|
123
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/**
|
| shintamainjp |
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124
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* Get uncompressed snapshot picture (uncompressed snapshot picture)
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| shintamainjp |
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|
125
|
*
|
| shintamainjp |
3:6d3150d4396a
|
126
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* @param func Pointer to a callback function.
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| shintamainjp |
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127
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* @return Status of the error.
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| shintamainjp |
3:6d3150d4396a
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128
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*/
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| shintamainjp |
3:6d3150d4396a
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129
|
CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
|
| shintamainjp |
3:6d3150d4396a
|
130
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ErrorNumber en;
|
| shintamainjp |
3:6d3150d4396a
|
131
|
|
| shintamainjp |
3:6d3150d4396a
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132
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en = sendGetPicture(PreviewPicture);
|
| shintamainjp |
3:6d3150d4396a
|
133
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if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
134
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return en;
|
| shintamainjp |
3:6d3150d4396a
|
135
|
}
|
| shintamainjp |
3:6d3150d4396a
|
136
|
WAITFUNC();
|
| shintamainjp |
3:6d3150d4396a
|
137
|
en = recvAckOrNck();
|
| shintamainjp |
3:6d3150d4396a
|
138
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
139
|
return en;
|
| shintamainjp |
3:6d3150d4396a
|
140
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}
|
| shintamainjp |
3:6d3150d4396a
|
141
|
|
| shintamainjp |
3:6d3150d4396a
|
142
|
/*
|
| shintamainjp |
3:6d3150d4396a
|
143
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* image data
|
| shintamainjp |
3:6d3150d4396a
|
144
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
145
|
DataType dt;
|
| shintamainjp |
3:6d3150d4396a
|
146
|
uint32_t length = 0;
|
| shintamainjp |
3:6d3150d4396a
|
147
|
WAITFUNC();
|
| shintamainjp |
3:6d3150d4396a
|
148
|
en = recvData(&dt, &length);
|
| shintamainjp |
3:6d3150d4396a
|
149
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
150
|
return en;
|
| shintamainjp |
3:6d3150d4396a
|
151
|
}
|
| shintamainjp |
3:6d3150d4396a
|
152
|
size_t imgcnt = 0;
|
| shintamainjp |
3:6d3150d4396a
|
153
|
for (int i = 0; i < (int)length; i++) {
|
| shintamainjp |
3:6d3150d4396a
|
154
|
char c;
|
| shintamainjp |
3:6d3150d4396a
|
155
|
WAITFUNC();
|
| shintamainjp |
3:6d3150d4396a
|
156
|
if (!RECVFUNC(&c, 1)) {
|
| shintamainjp |
3:6d3150d4396a
|
157
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
158
|
}
|
| shintamainjp |
3:6d3150d4396a
|
159
|
imgcnt++;
|
| shintamainjp |
3:6d3150d4396a
|
160
|
func(imgcnt, length, c);
|
| shintamainjp |
3:6d3150d4396a
|
161
|
}
|
| shintamainjp |
3:6d3150d4396a
|
162
|
|
| shintamainjp |
3:6d3150d4396a
|
163
|
/*
|
| shintamainjp |
3:6d3150d4396a
|
164
|
* ACK
|
| shintamainjp |
3:6d3150d4396a
|
165
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
166
|
en = sendAck(0x0A, 0x00);
|
| shintamainjp |
3:6d3150d4396a
|
167
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
168
|
return en;
|
| shintamainjp |
3:6d3150d4396a
|
169
|
}
|
| shintamainjp |
3:6d3150d4396a
|
170
|
|
| shintamainjp |
3:6d3150d4396a
|
171
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
172
|
}
|
| shintamainjp |
3:6d3150d4396a
|
173
|
|
| shintamainjp |
3:6d3150d4396a
|
174
|
CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
|
| shintamainjp |
2:6a72fcad5c0a
|
175
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
176
|
|
| shintamainjp |
2:6a72fcad5c0a
|
177
|
send[0] = 0xAA;
|
| shintamainjp |
2:6a72fcad5c0a
|
178
|
send[1] = 0x01;
|
| shintamainjp |
2:6a72fcad5c0a
|
179
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send[2] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
180
|
send[3] = (char)ct;
|
| shintamainjp |
2:6a72fcad5c0a
|
181
|
send[4] = (char)rr;
|
| shintamainjp |
2:6a72fcad5c0a
|
182
|
send[5] = (char)jr;
|
| shintamainjp |
2:6a72fcad5c0a
|
183
|
|
| shintamainjp |
2:6a72fcad5c0a
|
184
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
185
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
186
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
187
|
return (ErrorNumber)NoError;
|
| shintamainjp |
2:6a72fcad5c0a
|
188
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
189
|
|
| shintamainjp |
3:6d3150d4396a
|
190
|
CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
|
| shintamainjp |
2:6a72fcad5c0a
|
191
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
192
|
|
| shintamainjp |
2:6a72fcad5c0a
|
193
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
194
|
send[1] = 0x04;
|
| shintamainjp |
3:6d3150d4396a
|
195
|
send[2] = (char)pt;
|
| shintamainjp |
2:6a72fcad5c0a
|
196
|
send[3] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
197
|
send[4] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
198
|
send[5] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
199
|
|
| shintamainjp |
2:6a72fcad5c0a
|
200
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
201
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
202
|
}
|
| shintamainjp |
3:6d3150d4396a
|
203
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
204
|
}
|
| shintamainjp |
3:6d3150d4396a
|
205
|
|
| shintamainjp |
3:6d3150d4396a
|
206
|
CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
|
| shintamainjp |
3:6d3150d4396a
|
207
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
208
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
209
|
send[1] = 0x05;
|
| shintamainjp |
3:6d3150d4396a
|
210
|
send[2] = (char)st;
|
| shintamainjp |
3:6d3150d4396a
|
211
|
send[3] = (skipFrames >> 0) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
212
|
send[4] = (skipFrames >> 8) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
213
|
send[5] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
214
|
|
| shintamainjp |
3:6d3150d4396a
|
215
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
216
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
217
|
}
|
| shintamainjp |
3:6d3150d4396a
|
218
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
219
|
}
|
| shintamainjp |
3:6d3150d4396a
|
220
|
|
| shintamainjp |
3:6d3150d4396a
|
221
|
CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
|
| shintamainjp |
3:6d3150d4396a
|
222
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
223
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
224
|
send[1] = 0x06;
|
| shintamainjp |
3:6d3150d4396a
|
225
|
send[2] = 0x08;
|
| shintamainjp |
3:6d3150d4396a
|
226
|
send[3] = (packageSize >> 0) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
227
|
send[4] = (packageSize >> 8) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
228
|
send[5] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
229
|
|
| shintamainjp |
3:6d3150d4396a
|
230
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
231
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
232
|
}
|
| shintamainjp |
3:6d3150d4396a
|
233
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
234
|
}
|
| shintamainjp |
3:6d3150d4396a
|
235
|
|
| shintamainjp |
3:6d3150d4396a
|
236
|
CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
|
| shintamainjp |
3:6d3150d4396a
|
237
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
238
|
|
| shintamainjp |
3:6d3150d4396a
|
239
|
static struct baud_list {
|
| shintamainjp |
3:6d3150d4396a
|
240
|
Baud baud;
|
| shintamainjp |
3:6d3150d4396a
|
241
|
uint8_t div1st;
|
| shintamainjp |
3:6d3150d4396a
|
242
|
uint8_t div2nd;
|
| shintamainjp |
3:6d3150d4396a
|
243
|
} baudtable [] = {
|
| shintamainjp |
3:6d3150d4396a
|
244
|
{ Baud7200, 0xff, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
245
|
{ Baud9600, 0xbf, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
246
|
{ Baud14400, 0x7f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
247
|
{ Baud19200, 0x5f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
248
|
{ Baud28800, 0x3f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
249
|
{ Baud38400, 0x2f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
250
|
{ Baud57600, 0x1f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
251
|
{ Baud115200, 0x0f, 0x01 }
|
| shintamainjp |
3:6d3150d4396a
|
252
|
};
|
| shintamainjp |
3:6d3150d4396a
|
253
|
|
| shintamainjp |
3:6d3150d4396a
|
254
|
uint8_t div1st = 0x00, div2nd = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
255
|
struct baud_list *p = &baudtable[0];
|
| shintamainjp |
3:6d3150d4396a
|
256
|
for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
|
| shintamainjp |
3:6d3150d4396a
|
257
|
if (p->baud == baud) {
|
| shintamainjp |
3:6d3150d4396a
|
258
|
div1st = p->div1st;
|
| shintamainjp |
3:6d3150d4396a
|
259
|
div2nd = p->div2nd;
|
| shintamainjp |
3:6d3150d4396a
|
260
|
}
|
| shintamainjp |
3:6d3150d4396a
|
261
|
p++;
|
| shintamainjp |
2:6a72fcad5c0a
|
262
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
263
|
|
| shintamainjp |
3:6d3150d4396a
|
264
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
265
|
send[1] = 0x07;
|
| shintamainjp |
3:6d3150d4396a
|
266
|
send[2] = div1st;
|
| shintamainjp |
3:6d3150d4396a
|
267
|
send[3] = div2nd;
|
| shintamainjp |
3:6d3150d4396a
|
268
|
send[4] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
269
|
send[5] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
270
|
|
| shintamainjp |
3:6d3150d4396a
|
271
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
272
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
273
|
}
|
| shintamainjp |
3:6d3150d4396a
|
274
|
|
| shintamainjp |
3:6d3150d4396a
|
275
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
276
|
}
|
| shintamainjp |
3:6d3150d4396a
|
277
|
|
| shintamainjp |
3:6d3150d4396a
|
278
|
CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
|
| shintamainjp |
3:6d3150d4396a
|
279
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
280
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
281
|
send[1] = 0x08;
|
| shintamainjp |
3:6d3150d4396a
|
282
|
send[2] = (int)rt;
|
| shintamainjp |
3:6d3150d4396a
|
283
|
send[3] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
284
|
send[4] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
285
|
send[5] = specialReset ? 0xff : 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
286
|
/*
|
| shintamainjp |
3:6d3150d4396a
|
287
|
* Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
|
| shintamainjp |
2:6a72fcad5c0a
|
288
|
*/
|
| shintamainjp |
2:6a72fcad5c0a
|
289
|
|
| shintamainjp |
3:6d3150d4396a
|
290
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
291
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
292
|
}
|
| shintamainjp |
3:6d3150d4396a
|
293
|
|
| shintamainjp |
3:6d3150d4396a
|
294
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
295
|
}
|
| shintamainjp |
3:6d3150d4396a
|
296
|
|
| shintamainjp |
3:6d3150d4396a
|
297
|
CameraC328::ErrorNumber CameraC328::sendPowerOff() {
|
| shintamainjp |
3:6d3150d4396a
|
298
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
299
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
300
|
send[1] = 0x09;
|
| shintamainjp |
3:6d3150d4396a
|
301
|
send[2] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
302
|
send[3] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
303
|
send[4] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
304
|
send[5] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
305
|
|
| shintamainjp |
2:6a72fcad5c0a
|
306
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
307
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
308
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
309
|
|
| shintamainjp |
3:6d3150d4396a
|
310
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
311
|
}
|
| shintamainjp |
3:6d3150d4396a
|
312
|
|
| shintamainjp |
3:6d3150d4396a
|
313
|
CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) {
|
| shintamainjp |
3:6d3150d4396a
|
314
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
315
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
316
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
2:6a72fcad5c0a
|
317
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
318
|
if ((0xAA != recv[0]) || (0x0A != recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
319
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
2:6a72fcad5c0a
|
320
|
}
|
| shintamainjp |
3:6d3150d4396a
|
321
|
*dt = (DataType)recv[2];
|
| shintamainjp |
3:6d3150d4396a
|
322
|
*length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
|
| shintamainjp |
3:6d3150d4396a
|
323
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
324
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
325
|
|
| shintamainjp |
3:6d3150d4396a
|
326
|
CameraC328::ErrorNumber CameraC328::sendSync() {
|
| shintamainjp |
3:6d3150d4396a
|
327
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
328
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
329
|
send[1] = 0x0D;
|
| shintamainjp |
3:6d3150d4396a
|
330
|
send[2] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
331
|
send[3] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
332
|
send[4] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
333
|
send[5] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
334
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
335
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
336
|
}
|
| shintamainjp |
3:6d3150d4396a
|
337
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
338
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
339
|
|
| shintamainjp |
3:6d3150d4396a
|
340
|
CameraC328::ErrorNumber CameraC328::recvSync() {
|
| shintamainjp |
3:6d3150d4396a
|
341
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
342
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
3:6d3150d4396a
|
343
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
344
|
}
|
| shintamainjp |
3:6d3150d4396a
|
345
|
if ((0xAA != recv[0]) || (0x0D != recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
346
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
347
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
348
|
return (ErrorNumber)NoError;
|
| shintamainjp |
2:6a72fcad5c0a
|
349
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
350
|
|
| shintamainjp |
2:6a72fcad5c0a
|
351
|
/**
|
| shintamainjp |
3:6d3150d4396a
|
352
|
* Send ACK.
|
| shintamainjp |
3:6d3150d4396a
|
353
|
*
|
| shintamainjp |
3:6d3150d4396a
|
354
|
* @param commandId The command with that ID is acknowledged by this command.
|
| shintamainjp |
3:6d3150d4396a
|
355
|
* @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 |
3:6d3150d4396a
|
356
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
357
|
CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
|
| shintamainjp |
3:6d3150d4396a
|
358
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
359
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
360
|
send[1] = 0x0E;
|
| shintamainjp |
3:6d3150d4396a
|
361
|
send[2] = commandId;
|
| shintamainjp |
3:6d3150d4396a
|
362
|
send[3] = 0x00; // ACK counter is not used.
|
| shintamainjp |
3:6d3150d4396a
|
363
|
send[4] = (packageId >> 0) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
364
|
send[5] = (packageId >> 8) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
365
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
366
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
367
|
}
|
| shintamainjp |
3:6d3150d4396a
|
368
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
369
|
}
|
| shintamainjp |
3:6d3150d4396a
|
370
|
|
| shintamainjp |
3:6d3150d4396a
|
371
|
/**
|
| shintamainjp |
3:6d3150d4396a
|
372
|
* Receive ACK or NCK.
|
| shintamainjp |
3:6d3150d4396a
|
373
|
*
|
| shintamainjp |
3:6d3150d4396a
|
374
|
* @return Error number.
|
| shintamainjp |
3:6d3150d4396a
|
375
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
376
|
CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
|
| shintamainjp |
3:6d3150d4396a
|
377
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
378
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
3:6d3150d4396a
|
379
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
380
|
}
|
| shintamainjp |
3:6d3150d4396a
|
381
|
if ((0xAA == recv[0]) && (0x0E == recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
382
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
383
|
}
|
| shintamainjp |
3:6d3150d4396a
|
384
|
if ((0xAA == recv[0]) && (0x0F == recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
385
|
return (ErrorNumber)recv[4];
|
| shintamainjp |
3:6d3150d4396a
|
386
|
}
|
| shintamainjp |
3:6d3150d4396a
|
387
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
388
|
}
|
| shintamainjp |
3:6d3150d4396a
|
389
|
|
| shintamainjp |
3:6d3150d4396a
|
390
|
/**
|
| shintamainjp |
2:6a72fcad5c0a
|
391
|
* Send bytes to camera module.
|
| shintamainjp |
2:6a72fcad5c0a
|
392
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
393
|
* @param buf Pointer to the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
394
|
* @param len Length of the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
395
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
396
|
* @return True if the data sended.
|
| shintamainjp |
2:6a72fcad5c0a
|
397
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
398
|
bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
|
| shintamainjp |
2:6a72fcad5c0a
|
399
|
for (uint32_t i = 0; i < (uint32_t)len; i++) {
|
| shintamainjp |
2:6a72fcad5c0a
|
400
|
int cnt = 0;
|
| shintamainjp |
2:6a72fcad5c0a
|
401
|
while (!serial.writeable()) {
|
| shintamainjp |
3:6d3150d4396a
|
402
|
wait_us(1);
|
| shintamainjp |
2:6a72fcad5c0a
|
403
|
cnt++;
|
| shintamainjp |
3:6d3150d4396a
|
404
|
if (timeout_us < cnt) {
|
| shintamainjp |
2:6a72fcad5c0a
|
405
|
return false;
|
| shintamainjp |
2:6a72fcad5c0a
|
406
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
407
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
408
|
serial.putc(buf[i]);
|
| shintamainjp |
2:6a72fcad5c0a
|
409
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
410
|
return true;
|
| shintamainjp |
2:6a72fcad5c0a
|
411
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
412
|
|
| shintamainjp |
2:6a72fcad5c0a
|
413
|
/**
|
| shintamainjp |
2:6a72fcad5c0a
|
414
|
* Receive bytes from camera module.
|
| shintamainjp |
2:6a72fcad5c0a
|
415
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
416
|
* @param buf Pointer to the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
417
|
* @param len Length of the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
418
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
419
|
* @return True if the data received.
|
| shintamainjp |
2:6a72fcad5c0a
|
420
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
421
|
bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
|
| shintamainjp |
2:6a72fcad5c0a
|
422
|
for (uint32_t i = 0; i < (uint32_t)len; i++) {
|
| shintamainjp |
2:6a72fcad5c0a
|
423
|
int cnt = 0;
|
| shintamainjp |
2:6a72fcad5c0a
|
424
|
while (!serial.readable()) {
|
| shintamainjp |
3:6d3150d4396a
|
425
|
wait_us(1);
|
| shintamainjp |
2:6a72fcad5c0a
|
426
|
cnt++;
|
| shintamainjp |
3:6d3150d4396a
|
427
|
if (timeout_us < cnt) {
|
| shintamainjp |
2:6a72fcad5c0a
|
428
|
return false;
|
| shintamainjp |
2:6a72fcad5c0a
|
429
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
430
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
431
|
buf[i] = serial.getc();
|
| shintamainjp |
2:6a72fcad5c0a
|
432
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
433
|
return true;
|
| shintamainjp |
2:6a72fcad5c0a
|
434
|
}
|
| shintamainjp |
3:6d3150d4396a
|
435
|
|
| shintamainjp |
3:6d3150d4396a
|
436
|
/**
|
| shintamainjp |
3:6d3150d4396a
|
437
|
* Wait received.
|
| shintamainjp |
3:6d3150d4396a
|
438
|
*
|
| shintamainjp |
3:6d3150d4396a
|
439
|
* @return True if the data received.
|
| shintamainjp |
3:6d3150d4396a
|
440
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
441
|
bool CameraC328::waitRecv() {
|
| shintamainjp |
3:6d3150d4396a
|
442
|
while (!serial.readable()) {
|
| shintamainjp |
3:6d3150d4396a
|
443
|
}
|
| shintamainjp |
3:6d3150d4396a
|
444
|
return true;
|
| shintamainjp |
3:6d3150d4396a
|
445
|
} |
Shinichiro Nakamura
CameraC328