CameraC328
Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more
CameraC328.cpp@0:7e51c3176eb7, 2010-06-27 (annotated)
- Committer:
- shintamainjp
- Date:
- Sun Jun 27 03:36:10 2010 +0000
- Revision:
- 0:7e51c3176eb7
- Child:
- 1:167e51d598cf
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shintamainjp | 0:7e51c3176eb7 | 1 | #include "CameraC328.h" |
shintamainjp | 0:7e51c3176eb7 | 2 | |
shintamainjp | 0:7e51c3176eb7 | 3 | Serial debout(USBTX, USBRX); |
shintamainjp | 0:7e51c3176eb7 | 4 | |
shintamainjp | 0:7e51c3176eb7 | 5 | #if 1 |
shintamainjp | 0:7e51c3176eb7 | 6 | #define SENDFUNC sendBytesWithDebugOutput |
shintamainjp | 0:7e51c3176eb7 | 7 | #define RECVFUNC recvBytesWithDebugOutput |
shintamainjp | 0:7e51c3176eb7 | 8 | #else |
shintamainjp | 0:7e51c3176eb7 | 9 | #define SENDFUNC sendBytes |
shintamainjp | 0:7e51c3176eb7 | 10 | #define RECVFUNC recvBytes |
shintamainjp | 0:7e51c3176eb7 | 11 | #endif |
shintamainjp | 0:7e51c3176eb7 | 12 | |
shintamainjp | 0:7e51c3176eb7 | 13 | CameraC328::CameraC328(PinName tx, PinName rx) : serial(tx, rx) { |
shintamainjp | 0:7e51c3176eb7 | 14 | serial.baud(BAUD); |
shintamainjp | 0:7e51c3176eb7 | 15 | } |
shintamainjp | 0:7e51c3176eb7 | 16 | |
shintamainjp | 0:7e51c3176eb7 | 17 | CameraC328::~CameraC328() { |
shintamainjp | 0:7e51c3176eb7 | 18 | } |
shintamainjp | 0:7e51c3176eb7 | 19 | |
shintamainjp | 0:7e51c3176eb7 | 20 | CameraC328::ErrorNumber CameraC328::sync() { |
shintamainjp | 0:7e51c3176eb7 | 21 | char send[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 22 | char recv[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 23 | send[0] = 0xAA; |
shintamainjp | 0:7e51c3176eb7 | 24 | send[1] = 0x0D; |
shintamainjp | 0:7e51c3176eb7 | 25 | send[2] = 0; |
shintamainjp | 0:7e51c3176eb7 | 26 | send[3] = 0; |
shintamainjp | 0:7e51c3176eb7 | 27 | send[4] = 0; |
shintamainjp | 0:7e51c3176eb7 | 28 | send[5] = 0; |
shintamainjp | 0:7e51c3176eb7 | 29 | for (int i = 0; i < SYNCMAX; i++) { |
shintamainjp | 0:7e51c3176eb7 | 30 | if (SENDFUNC(send, sizeof(send))) { |
shintamainjp | 0:7e51c3176eb7 | 31 | if (RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 32 | if ((0xAA == recv[0]) && (0x0E == recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 33 | if (RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 34 | if ((0xAA == recv[0]) && (0x0D == recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 35 | send[0] = 0xAA; |
shintamainjp | 0:7e51c3176eb7 | 36 | send[1] = 0x0E; |
shintamainjp | 0:7e51c3176eb7 | 37 | send[2] = 0x0D; |
shintamainjp | 0:7e51c3176eb7 | 38 | send[3] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 39 | send[4] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 40 | send[5] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 41 | if (SENDFUNC(send, sizeof(send))) { |
shintamainjp | 0:7e51c3176eb7 | 42 | /* |
shintamainjp | 0:7e51c3176eb7 | 43 | * After synchronization, the camera needs a little time for AEC and AGC to be stable. |
shintamainjp | 0:7e51c3176eb7 | 44 | * Users should wait for 1-2 seconds before capturing the first picture. |
shintamainjp | 0:7e51c3176eb7 | 45 | */ |
shintamainjp | 0:7e51c3176eb7 | 46 | wait(1); |
shintamainjp | 0:7e51c3176eb7 | 47 | return NoError; |
shintamainjp | 0:7e51c3176eb7 | 48 | } |
shintamainjp | 0:7e51c3176eb7 | 49 | } |
shintamainjp | 0:7e51c3176eb7 | 50 | } |
shintamainjp | 0:7e51c3176eb7 | 51 | } |
shintamainjp | 0:7e51c3176eb7 | 52 | } |
shintamainjp | 0:7e51c3176eb7 | 53 | } |
shintamainjp | 0:7e51c3176eb7 | 54 | wait(0.2); |
shintamainjp | 0:7e51c3176eb7 | 55 | } |
shintamainjp | 0:7e51c3176eb7 | 56 | return UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 57 | } |
shintamainjp | 0:7e51c3176eb7 | 58 | |
shintamainjp | 0:7e51c3176eb7 | 59 | CameraC328::ErrorNumber CameraC328::getPicture(PictureType pt, void(*func)(size_t done, size_t total, char c)) { |
shintamainjp | 0:7e51c3176eb7 | 60 | switch (pt) { |
shintamainjp | 0:7e51c3176eb7 | 61 | case PreviewPicture: |
shintamainjp | 0:7e51c3176eb7 | 62 | return getPreviewPicture(func); |
shintamainjp | 0:7e51c3176eb7 | 63 | case SnapshotPicture: |
shintamainjp | 0:7e51c3176eb7 | 64 | return getSnapshotPicture(func); |
shintamainjp | 0:7e51c3176eb7 | 65 | } |
shintamainjp | 0:7e51c3176eb7 | 66 | return NoError; |
shintamainjp | 0:7e51c3176eb7 | 67 | } |
shintamainjp | 0:7e51c3176eb7 | 68 | |
shintamainjp | 0:7e51c3176eb7 | 69 | CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) { |
shintamainjp | 0:7e51c3176eb7 | 70 | char send[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 71 | char recv[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 72 | |
shintamainjp | 0:7e51c3176eb7 | 73 | send[0] = 0xAA; |
shintamainjp | 0:7e51c3176eb7 | 74 | send[1] = 0x01; |
shintamainjp | 0:7e51c3176eb7 | 75 | send[2] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 76 | send[3] = (char)ct; |
shintamainjp | 0:7e51c3176eb7 | 77 | send[4] = (char)rr; |
shintamainjp | 0:7e51c3176eb7 | 78 | send[5] = (char)jr; |
shintamainjp | 0:7e51c3176eb7 | 79 | |
shintamainjp | 0:7e51c3176eb7 | 80 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 0:7e51c3176eb7 | 81 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 0:7e51c3176eb7 | 82 | } |
shintamainjp | 0:7e51c3176eb7 | 83 | |
shintamainjp | 0:7e51c3176eb7 | 84 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 85 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 86 | } |
shintamainjp | 0:7e51c3176eb7 | 87 | |
shintamainjp | 0:7e51c3176eb7 | 88 | if ((0xAA != recv[0]) || (0x0E != recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 89 | return (ErrorNumber)recv[4]; |
shintamainjp | 0:7e51c3176eb7 | 90 | } |
shintamainjp | 0:7e51c3176eb7 | 91 | |
shintamainjp | 0:7e51c3176eb7 | 92 | return (ErrorNumber)NoError; |
shintamainjp | 0:7e51c3176eb7 | 93 | } |
shintamainjp | 0:7e51c3176eb7 | 94 | |
shintamainjp | 0:7e51c3176eb7 | 95 | /* |
shintamainjp | 0:7e51c3176eb7 | 96 | * Get snapshot picture (uncompressed snapshot picture) |
shintamainjp | 0:7e51c3176eb7 | 97 | * |
shintamainjp | 0:7e51c3176eb7 | 98 | * @param func Pointer to a callback function. |
shintamainjp | 0:7e51c3176eb7 | 99 | * @return Status of the error. |
shintamainjp | 0:7e51c3176eb7 | 100 | */ |
shintamainjp | 0:7e51c3176eb7 | 101 | CameraC328::ErrorNumber CameraC328::getSnapshotPicture(void(*func)(size_t done, size_t total, char c)) { |
shintamainjp | 0:7e51c3176eb7 | 102 | |
shintamainjp | 0:7e51c3176eb7 | 103 | char send[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 104 | char recv[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 105 | |
shintamainjp | 0:7e51c3176eb7 | 106 | send[0] = 0xAA; |
shintamainjp | 0:7e51c3176eb7 | 107 | send[1] = 0x05; |
shintamainjp | 0:7e51c3176eb7 | 108 | send[2] = SnapshotPicture; |
shintamainjp | 0:7e51c3176eb7 | 109 | send[3] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 110 | send[4] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 111 | send[5] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 112 | |
shintamainjp | 0:7e51c3176eb7 | 113 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 0:7e51c3176eb7 | 114 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 0:7e51c3176eb7 | 115 | } |
shintamainjp | 0:7e51c3176eb7 | 116 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 117 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 118 | } |
shintamainjp | 0:7e51c3176eb7 | 119 | if ((0xAA != recv[0]) || (0x0E != recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 120 | return (ErrorNumber)recv[4]; |
shintamainjp | 0:7e51c3176eb7 | 121 | } |
shintamainjp | 0:7e51c3176eb7 | 122 | |
shintamainjp | 0:7e51c3176eb7 | 123 | send[0] = 0xAA; |
shintamainjp | 0:7e51c3176eb7 | 124 | send[1] = 0x04; |
shintamainjp | 0:7e51c3176eb7 | 125 | send[2] = SnapshotPicture; |
shintamainjp | 0:7e51c3176eb7 | 126 | send[3] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 127 | send[4] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 128 | send[5] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 129 | |
shintamainjp | 0:7e51c3176eb7 | 130 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 0:7e51c3176eb7 | 131 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 0:7e51c3176eb7 | 132 | } |
shintamainjp | 0:7e51c3176eb7 | 133 | wait(1); |
shintamainjp | 0:7e51c3176eb7 | 134 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 135 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 136 | } |
shintamainjp | 0:7e51c3176eb7 | 137 | if ((0xAA != recv[0]) || (0x0E != recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 138 | return (ErrorNumber)recv[4]; |
shintamainjp | 0:7e51c3176eb7 | 139 | } |
shintamainjp | 0:7e51c3176eb7 | 140 | wait(1); |
shintamainjp | 0:7e51c3176eb7 | 141 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 142 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 143 | } |
shintamainjp | 0:7e51c3176eb7 | 144 | if ((0xAA != recv[0]) || (0x0A != recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 145 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 146 | } |
shintamainjp | 0:7e51c3176eb7 | 147 | |
shintamainjp | 0:7e51c3176eb7 | 148 | size_t siz = (recv[3] << (8 * 2)) | (recv[4] << (8 * 1)) | (recv[5] << (8 * 0)); |
shintamainjp | 0:7e51c3176eb7 | 149 | size_t cnt = 0; |
shintamainjp | 0:7e51c3176eb7 | 150 | for (int i = 0; i < (int)siz; i++) { |
shintamainjp | 0:7e51c3176eb7 | 151 | char c; |
shintamainjp | 0:7e51c3176eb7 | 152 | if (!RECVFUNC(&c, sizeof(c))) { |
shintamainjp | 0:7e51c3176eb7 | 153 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 154 | } |
shintamainjp | 0:7e51c3176eb7 | 155 | cnt++; |
shintamainjp | 0:7e51c3176eb7 | 156 | func(cnt, siz, c); |
shintamainjp | 0:7e51c3176eb7 | 157 | } |
shintamainjp | 0:7e51c3176eb7 | 158 | |
shintamainjp | 0:7e51c3176eb7 | 159 | return (siz == cnt) ? (ErrorNumber)NoError : (ErrorNumber)SendPictureError; |
shintamainjp | 0:7e51c3176eb7 | 160 | } |
shintamainjp | 0:7e51c3176eb7 | 161 | |
shintamainjp | 0:7e51c3176eb7 | 162 | /* |
shintamainjp | 0:7e51c3176eb7 | 163 | * Get preview picture (uncompressed preview picture) |
shintamainjp | 0:7e51c3176eb7 | 164 | * |
shintamainjp | 0:7e51c3176eb7 | 165 | * @param func Pointer to a callback function. |
shintamainjp | 0:7e51c3176eb7 | 166 | * @return Status of the error. |
shintamainjp | 0:7e51c3176eb7 | 167 | */ |
shintamainjp | 0:7e51c3176eb7 | 168 | CameraC328::ErrorNumber CameraC328::getPreviewPicture(void(*func)(size_t done, size_t total, char c)) { |
shintamainjp | 0:7e51c3176eb7 | 169 | |
shintamainjp | 0:7e51c3176eb7 | 170 | char send[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 171 | char recv[COMMAND_LENGTH]; |
shintamainjp | 0:7e51c3176eb7 | 172 | |
shintamainjp | 0:7e51c3176eb7 | 173 | send[0] = 0xAA; |
shintamainjp | 0:7e51c3176eb7 | 174 | send[1] = 0x04; |
shintamainjp | 0:7e51c3176eb7 | 175 | send[2] = PreviewPicture; |
shintamainjp | 0:7e51c3176eb7 | 176 | send[3] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 177 | send[4] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 178 | send[5] = 0x00; |
shintamainjp | 0:7e51c3176eb7 | 179 | |
shintamainjp | 0:7e51c3176eb7 | 180 | if (!SENDFUNC(send, sizeof(send))) { |
shintamainjp | 0:7e51c3176eb7 | 181 | return (ErrorNumber)SendRegisterTimeout; |
shintamainjp | 0:7e51c3176eb7 | 182 | } |
shintamainjp | 0:7e51c3176eb7 | 183 | wait(1); |
shintamainjp | 0:7e51c3176eb7 | 184 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 185 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 186 | } |
shintamainjp | 0:7e51c3176eb7 | 187 | if ((0xAA != recv[0]) || (0x0E != recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 188 | return (ErrorNumber)recv[4]; |
shintamainjp | 0:7e51c3176eb7 | 189 | } |
shintamainjp | 0:7e51c3176eb7 | 190 | wait(1); |
shintamainjp | 0:7e51c3176eb7 | 191 | if (!RECVFUNC(recv, sizeof(recv))) { |
shintamainjp | 0:7e51c3176eb7 | 192 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 193 | } |
shintamainjp | 0:7e51c3176eb7 | 194 | if ((0xAA != recv[0]) || (0x0A != recv[1])) { |
shintamainjp | 0:7e51c3176eb7 | 195 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 196 | } |
shintamainjp | 0:7e51c3176eb7 | 197 | |
shintamainjp | 0:7e51c3176eb7 | 198 | size_t siz = (recv[3] << (8 * 2)) | (recv[4] << (8 * 1)) | (recv[5] << (8 * 0)); |
shintamainjp | 0:7e51c3176eb7 | 199 | size_t cnt = 0; |
shintamainjp | 0:7e51c3176eb7 | 200 | for (int i = 0; i < (int)siz; i++) { |
shintamainjp | 0:7e51c3176eb7 | 201 | char c; |
shintamainjp | 0:7e51c3176eb7 | 202 | if (!RECVFUNC(&c, sizeof(c))) { |
shintamainjp | 0:7e51c3176eb7 | 203 | return (ErrorNumber)UnexpectedReply; |
shintamainjp | 0:7e51c3176eb7 | 204 | } |
shintamainjp | 0:7e51c3176eb7 | 205 | cnt++; |
shintamainjp | 0:7e51c3176eb7 | 206 | func(cnt, siz, c); |
shintamainjp | 0:7e51c3176eb7 | 207 | } |
shintamainjp | 0:7e51c3176eb7 | 208 | |
shintamainjp | 0:7e51c3176eb7 | 209 | return (siz == cnt) ? (ErrorNumber)NoError : (ErrorNumber)SendPictureError; |
shintamainjp | 0:7e51c3176eb7 | 210 | } |
shintamainjp | 0:7e51c3176eb7 | 211 | |
shintamainjp | 0:7e51c3176eb7 | 212 | /** |
shintamainjp | 0:7e51c3176eb7 | 213 | * Send bytes to camera module. |
shintamainjp | 0:7e51c3176eb7 | 214 | * |
shintamainjp | 0:7e51c3176eb7 | 215 | * @param buf Pointer to the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 216 | * @param len Length of the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 217 | * |
shintamainjp | 0:7e51c3176eb7 | 218 | * @return True if the data sended. |
shintamainjp | 0:7e51c3176eb7 | 219 | */ |
shintamainjp | 0:7e51c3176eb7 | 220 | bool CameraC328::sendBytes(char *buf, size_t len) { |
shintamainjp | 0:7e51c3176eb7 | 221 | for (int i = 0; i < (int)len; i++) { |
shintamainjp | 0:7e51c3176eb7 | 222 | int cnt = 0; |
shintamainjp | 0:7e51c3176eb7 | 223 | while (!serial.writeable()) { |
shintamainjp | 0:7e51c3176eb7 | 224 | wait(0.001); |
shintamainjp | 0:7e51c3176eb7 | 225 | cnt++; |
shintamainjp | 0:7e51c3176eb7 | 226 | if (TIMEOUT_MS < cnt) { |
shintamainjp | 0:7e51c3176eb7 | 227 | return false; |
shintamainjp | 0:7e51c3176eb7 | 228 | } |
shintamainjp | 0:7e51c3176eb7 | 229 | } |
shintamainjp | 0:7e51c3176eb7 | 230 | serial.putc(buf[i]); |
shintamainjp | 0:7e51c3176eb7 | 231 | } |
shintamainjp | 0:7e51c3176eb7 | 232 | return true; |
shintamainjp | 0:7e51c3176eb7 | 233 | } |
shintamainjp | 0:7e51c3176eb7 | 234 | |
shintamainjp | 0:7e51c3176eb7 | 235 | /** |
shintamainjp | 0:7e51c3176eb7 | 236 | * Receive bytes from camera module. |
shintamainjp | 0:7e51c3176eb7 | 237 | * |
shintamainjp | 0:7e51c3176eb7 | 238 | * @param buf Pointer to the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 239 | * @param len Length of the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 240 | * |
shintamainjp | 0:7e51c3176eb7 | 241 | * @return True if the data received. |
shintamainjp | 0:7e51c3176eb7 | 242 | */ |
shintamainjp | 0:7e51c3176eb7 | 243 | bool CameraC328::recvBytes(char *buf, size_t len) { |
shintamainjp | 0:7e51c3176eb7 | 244 | for (int i = 0; i < (int)len; i++) { |
shintamainjp | 0:7e51c3176eb7 | 245 | int cnt = 0; |
shintamainjp | 0:7e51c3176eb7 | 246 | while (!serial.readable()) { |
shintamainjp | 0:7e51c3176eb7 | 247 | wait(0.001); |
shintamainjp | 0:7e51c3176eb7 | 248 | cnt++; |
shintamainjp | 0:7e51c3176eb7 | 249 | if (TIMEOUT_MS < cnt) { |
shintamainjp | 0:7e51c3176eb7 | 250 | return false; |
shintamainjp | 0:7e51c3176eb7 | 251 | } |
shintamainjp | 0:7e51c3176eb7 | 252 | } |
shintamainjp | 0:7e51c3176eb7 | 253 | buf[i] = serial.getc(); |
shintamainjp | 0:7e51c3176eb7 | 254 | } |
shintamainjp | 0:7e51c3176eb7 | 255 | return true; |
shintamainjp | 0:7e51c3176eb7 | 256 | } |
shintamainjp | 0:7e51c3176eb7 | 257 | |
shintamainjp | 0:7e51c3176eb7 | 258 | /** |
shintamainjp | 0:7e51c3176eb7 | 259 | * Send bytes to camera module. |
shintamainjp | 0:7e51c3176eb7 | 260 | * |
shintamainjp | 0:7e51c3176eb7 | 261 | * @param buf Pointer to the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 262 | * @param len Length of the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 263 | * |
shintamainjp | 0:7e51c3176eb7 | 264 | * @return True if the data sended. |
shintamainjp | 0:7e51c3176eb7 | 265 | */ |
shintamainjp | 0:7e51c3176eb7 | 266 | bool CameraC328::sendBytesWithDebugOutput(char *buf, size_t len) { |
shintamainjp | 0:7e51c3176eb7 | 267 | debout.printf("SEND : "); |
shintamainjp | 0:7e51c3176eb7 | 268 | for (int i = 0; i < (int)len; i++) { |
shintamainjp | 0:7e51c3176eb7 | 269 | int cnt = 0; |
shintamainjp | 0:7e51c3176eb7 | 270 | while (!serial.writeable()) { |
shintamainjp | 0:7e51c3176eb7 | 271 | wait(0.001); |
shintamainjp | 0:7e51c3176eb7 | 272 | cnt++; |
shintamainjp | 0:7e51c3176eb7 | 273 | if (TIMEOUT_MS < cnt) { |
shintamainjp | 0:7e51c3176eb7 | 274 | debout.printf(" [Timed out]\n"); |
shintamainjp | 0:7e51c3176eb7 | 275 | return false; |
shintamainjp | 0:7e51c3176eb7 | 276 | } |
shintamainjp | 0:7e51c3176eb7 | 277 | } |
shintamainjp | 0:7e51c3176eb7 | 278 | serial.putc(buf[i]); |
shintamainjp | 0:7e51c3176eb7 | 279 | debout.printf(" %02X", buf[i]); |
shintamainjp | 0:7e51c3176eb7 | 280 | } |
shintamainjp | 0:7e51c3176eb7 | 281 | debout.printf(" [OK]\n"); |
shintamainjp | 0:7e51c3176eb7 | 282 | return true; |
shintamainjp | 0:7e51c3176eb7 | 283 | } |
shintamainjp | 0:7e51c3176eb7 | 284 | |
shintamainjp | 0:7e51c3176eb7 | 285 | /** |
shintamainjp | 0:7e51c3176eb7 | 286 | * Receive bytes from camera module. |
shintamainjp | 0:7e51c3176eb7 | 287 | * |
shintamainjp | 0:7e51c3176eb7 | 288 | * @param buf Pointer to the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 289 | * @param len Length of the data buffer. |
shintamainjp | 0:7e51c3176eb7 | 290 | * |
shintamainjp | 0:7e51c3176eb7 | 291 | * @return True if the data received. |
shintamainjp | 0:7e51c3176eb7 | 292 | */ |
shintamainjp | 0:7e51c3176eb7 | 293 | bool CameraC328::recvBytesWithDebugOutput(char *buf, size_t len) { |
shintamainjp | 0:7e51c3176eb7 | 294 | debout.printf("RECV : "); |
shintamainjp | 0:7e51c3176eb7 | 295 | for (int i = 0; i < (int)len; i++) { |
shintamainjp | 0:7e51c3176eb7 | 296 | int cnt = 0; |
shintamainjp | 0:7e51c3176eb7 | 297 | while (!serial.readable()) { |
shintamainjp | 0:7e51c3176eb7 | 298 | wait(0.001); |
shintamainjp | 0:7e51c3176eb7 | 299 | cnt++; |
shintamainjp | 0:7e51c3176eb7 | 300 | if (TIMEOUT_MS < cnt) { |
shintamainjp | 0:7e51c3176eb7 | 301 | debout.printf(" [Timed out]\n"); |
shintamainjp | 0:7e51c3176eb7 | 302 | return false; |
shintamainjp | 0:7e51c3176eb7 | 303 | } |
shintamainjp | 0:7e51c3176eb7 | 304 | } |
shintamainjp | 0:7e51c3176eb7 | 305 | buf[i] = serial.getc(); |
shintamainjp | 0:7e51c3176eb7 | 306 | debout.printf(" %02X", buf[i]); |
shintamainjp | 0:7e51c3176eb7 | 307 | } |
shintamainjp | 0:7e51c3176eb7 | 308 | debout.printf(" [OK]\n"); |
shintamainjp | 0:7e51c3176eb7 | 309 | return true; |
shintamainjp | 0:7e51c3176eb7 | 310 | } |