CameraC328 - CameraC328

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CameraC328

Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more

CameraC328.cpp@10:b04f3444b794, 2010-08-30 (annotated)

Committer:: shintamainjp
Date:: Mon Aug 30 13:45:20 2010 +0000
Revision:: 10:b04f3444b794
Parent:: 7:d0d13822c37a
Child:: 11:0c80f5829565

Who changed what in which revision?

User	Revision	Line number	New contents of line
shintamainjp	3:6d3150d4396a	1	/**
shintamainjp	10:b04f3444b794	2	* C328-7640 device driver class (Version 0.0.3)
shintamainjp	3:6d3150d4396a	3	* Reference documents: C328-7640 User Manual v3.0 2004.8.19
shintamainjp	3:6d3150d4396a	4	*
shintamainjp	3:6d3150d4396a	5	* Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
shintamainjp	3:6d3150d4396a	6	* http://shinta.main.jp/
shintamainjp	3:6d3150d4396a	7	*/
shintamainjp	3:6d3150d4396a	8
shintamainjp	2:6a72fcad5c0a	9	#include "CameraC328.h"
shintamainjp	2:6a72fcad5c0a	10
shintamainjp	2:6a72fcad5c0a	11	#define SENDFUNC sendBytes
shintamainjp	2:6a72fcad5c0a	12	#define RECVFUNC recvBytes
shintamainjp	3:6d3150d4396a	13	#define WAITFUNC waitRecv
shintamainjp	2:6a72fcad5c0a	14
shintamainjp	3:6d3150d4396a	15	CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
shintamainjp	3:6d3150d4396a	16	serial.baud((int)baud);
shintamainjp	2:6a72fcad5c0a	17	}
shintamainjp	2:6a72fcad5c0a	18
shintamainjp	2:6a72fcad5c0a	19	CameraC328::~CameraC328() {
shintamainjp	2:6a72fcad5c0a	20	}
shintamainjp	2:6a72fcad5c0a	21
shintamainjp	2:6a72fcad5c0a	22	CameraC328::ErrorNumber CameraC328::sync() {
shintamainjp	2:6a72fcad5c0a	23	for (int i = 0; i < SYNCMAX; i++) {
shintamainjp	3:6d3150d4396a	24	if (NoError == sendSync()) {
shintamainjp	3:6d3150d4396a	25	if (NoError == recvAckOrNck()) {
shintamainjp	3:6d3150d4396a	26	if (NoError == recvSync()) {
shintamainjp	3:6d3150d4396a	27	if (NoError == sendAck(0x0D, 0x00)) {
shintamainjp	3:6d3150d4396a	28	/*
shintamainjp	3:6d3150d4396a	29	* After synchronization, the camera needs a little time for AEC and AGC to be stable.
shintamainjp	3:6d3150d4396a	30	* Users should wait for 1-2 seconds before capturing the first picture.
shintamainjp	3:6d3150d4396a	31	*/
shintamainjp	3:6d3150d4396a	32	wait(2);
shintamainjp	3:6d3150d4396a	33	return NoError;
shintamainjp	2:6a72fcad5c0a	34	}
shintamainjp	2:6a72fcad5c0a	35	}
shintamainjp	2:6a72fcad5c0a	36	}
shintamainjp	2:6a72fcad5c0a	37	}
shintamainjp	3:6d3150d4396a	38	wait_ms(50);
shintamainjp	2:6a72fcad5c0a	39	}
shintamainjp	2:6a72fcad5c0a	40	return UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	41	}
shintamainjp	2:6a72fcad5c0a	42
shintamainjp	2:6a72fcad5c0a	43	CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
shintamainjp	3:6d3150d4396a	44	ErrorNumber en;
shintamainjp	3:6d3150d4396a	45
shintamainjp	3:6d3150d4396a	46	en = sendInitial(ct, rr, jr);
shintamainjp	3:6d3150d4396a	47	if (NoError != en) {
shintamainjp	3:6d3150d4396a	48	return en;
shintamainjp	3:6d3150d4396a	49	}
shintamainjp	3:6d3150d4396a	50	WAITFUNC();
shintamainjp	3:6d3150d4396a	51	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	52	if (NoError != en) {
shintamainjp	3:6d3150d4396a	53	return en;
shintamainjp	3:6d3150d4396a	54	}
shintamainjp	3:6d3150d4396a	55
shintamainjp	4:ad06342d4b84	56	static bool alreadySetupPackageSize = false;
shintamainjp	4:ad06342d4b84	57	if (!alreadySetupPackageSize) {
shintamainjp	4:ad06342d4b84	58	en = sendSetPackageSize(packageSize);
shintamainjp	4:ad06342d4b84	59	if (NoError != en) {
shintamainjp	4:ad06342d4b84	60	return en;
shintamainjp	4:ad06342d4b84	61	}
shintamainjp	4:ad06342d4b84	62	WAITFUNC();
shintamainjp	4:ad06342d4b84	63	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	64	if (NoError != en) {
shintamainjp	4:ad06342d4b84	65	return en;
shintamainjp	4:ad06342d4b84	66	}
shintamainjp	4:ad06342d4b84	67	alreadySetupPackageSize = true;
shintamainjp	4:ad06342d4b84	68	}
shintamainjp	4:ad06342d4b84	69
shintamainjp	3:6d3150d4396a	70	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	71	}
shintamainjp	3:6d3150d4396a	72
shintamainjp	3:6d3150d4396a	73	/**
shintamainjp	4:ad06342d4b84	74	* Get uncompressed snapshot picture.
shintamainjp	3:6d3150d4396a	75	*
shintamainjp	3:6d3150d4396a	76	* @param func Pointer to a callback function.
shintamainjp	3:6d3150d4396a	77	* @return Status of the error.
shintamainjp	3:6d3150d4396a	78	*/
shintamainjp	3:6d3150d4396a	79	CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
shintamainjp	3:6d3150d4396a	80	ErrorNumber en;
shintamainjp	3:6d3150d4396a	81
shintamainjp	3:6d3150d4396a	82	en = sendSnapshot(UncompressedPicture, 0);
shintamainjp	3:6d3150d4396a	83	if (NoError != en) {
shintamainjp	3:6d3150d4396a	84	return en;
shintamainjp	3:6d3150d4396a	85	}
shintamainjp	3:6d3150d4396a	86	WAITFUNC();
shintamainjp	3:6d3150d4396a	87	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	88	if (NoError != en) {
shintamainjp	3:6d3150d4396a	89	return en;
shintamainjp	3:6d3150d4396a	90	}
shintamainjp	3:6d3150d4396a	91
shintamainjp	3:6d3150d4396a	92	en = sendGetPicture(SnapshotPicture);
shintamainjp	3:6d3150d4396a	93	if (NoError != en) {
shintamainjp	3:6d3150d4396a	94	return en;
shintamainjp	3:6d3150d4396a	95	}
shintamainjp	3:6d3150d4396a	96	WAITFUNC();
shintamainjp	3:6d3150d4396a	97	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	98	if (NoError != en) {
shintamainjp	3:6d3150d4396a	99	return en;
shintamainjp	3:6d3150d4396a	100	}
shintamainjp	3:6d3150d4396a	101
shintamainjp	3:6d3150d4396a	102	/*
shintamainjp	3:6d3150d4396a	103	* image data
shintamainjp	3:6d3150d4396a	104	*/
shintamainjp	3:6d3150d4396a	105	DataType dt;
shintamainjp	3:6d3150d4396a	106	uint32_t length = 0;
shintamainjp	3:6d3150d4396a	107	WAITFUNC();
shintamainjp	3:6d3150d4396a	108	en = recvData(&dt, &length);
shintamainjp	3:6d3150d4396a	109	if (NoError != en) {
shintamainjp	3:6d3150d4396a	110	return en;
shintamainjp	3:6d3150d4396a	111	}
shintamainjp	3:6d3150d4396a	112	size_t imgcnt = 0;
shintamainjp	3:6d3150d4396a	113	for (int i = 0; i < (int)length; i++) {
shintamainjp	3:6d3150d4396a	114	char c;
shintamainjp	3:6d3150d4396a	115	WAITFUNC();
shintamainjp	3:6d3150d4396a	116	if (!RECVFUNC(&c, 1)) {
shintamainjp	3:6d3150d4396a	117	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	118	}
shintamainjp	3:6d3150d4396a	119	imgcnt++;
shintamainjp	3:6d3150d4396a	120	func(imgcnt, length, c);
shintamainjp	3:6d3150d4396a	121	}
shintamainjp	3:6d3150d4396a	122
shintamainjp	3:6d3150d4396a	123	/*
shintamainjp	3:6d3150d4396a	124	* ACK
shintamainjp	3:6d3150d4396a	125	*/
shintamainjp	3:6d3150d4396a	126	en = sendAck(0x0A, 0x00);
shintamainjp	3:6d3150d4396a	127	if (NoError != en) {
shintamainjp	3:6d3150d4396a	128	return en;
shintamainjp	3:6d3150d4396a	129	}
shintamainjp	3:6d3150d4396a	130
shintamainjp	3:6d3150d4396a	131	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	132	}
shintamainjp	3:6d3150d4396a	133
shintamainjp	3:6d3150d4396a	134	/**
shintamainjp	4:ad06342d4b84	135	* Get uncompressed preview picture.
shintamainjp	3:6d3150d4396a	136	*
shintamainjp	3:6d3150d4396a	137	* @param func Pointer to a callback function.
shintamainjp	3:6d3150d4396a	138	* @return Status of the error.
shintamainjp	3:6d3150d4396a	139	*/
shintamainjp	3:6d3150d4396a	140	CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
shintamainjp	3:6d3150d4396a	141	ErrorNumber en;
shintamainjp	3:6d3150d4396a	142
shintamainjp	3:6d3150d4396a	143	en = sendGetPicture(PreviewPicture);
shintamainjp	3:6d3150d4396a	144	if (NoError != en) {
shintamainjp	3:6d3150d4396a	145	return en;
shintamainjp	3:6d3150d4396a	146	}
shintamainjp	3:6d3150d4396a	147	WAITFUNC();
shintamainjp	3:6d3150d4396a	148	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	149	if (NoError != en) {
shintamainjp	3:6d3150d4396a	150	return en;
shintamainjp	3:6d3150d4396a	151	}
shintamainjp	3:6d3150d4396a	152
shintamainjp	3:6d3150d4396a	153	/*
shintamainjp	3:6d3150d4396a	154	* image data
shintamainjp	3:6d3150d4396a	155	*/
shintamainjp	3:6d3150d4396a	156	DataType dt;
shintamainjp	3:6d3150d4396a	157	uint32_t length = 0;
shintamainjp	3:6d3150d4396a	158	WAITFUNC();
shintamainjp	3:6d3150d4396a	159	en = recvData(&dt, &length);
shintamainjp	3:6d3150d4396a	160	if (NoError != en) {
shintamainjp	3:6d3150d4396a	161	return en;
shintamainjp	3:6d3150d4396a	162	}
shintamainjp	3:6d3150d4396a	163	size_t imgcnt = 0;
shintamainjp	3:6d3150d4396a	164	for (int i = 0; i < (int)length; i++) {
shintamainjp	3:6d3150d4396a	165	char c;
shintamainjp	3:6d3150d4396a	166	WAITFUNC();
shintamainjp	3:6d3150d4396a	167	if (!RECVFUNC(&c, 1)) {
shintamainjp	3:6d3150d4396a	168	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	169	}
shintamainjp	3:6d3150d4396a	170	imgcnt++;
shintamainjp	3:6d3150d4396a	171	func(imgcnt, length, c);
shintamainjp	3:6d3150d4396a	172	}
shintamainjp	3:6d3150d4396a	173
shintamainjp	3:6d3150d4396a	174	/*
shintamainjp	3:6d3150d4396a	175	* ACK
shintamainjp	3:6d3150d4396a	176	*/
shintamainjp	3:6d3150d4396a	177	en = sendAck(0x0A, 0x00);
shintamainjp	3:6d3150d4396a	178	if (NoError != en) {
shintamainjp	3:6d3150d4396a	179	return en;
shintamainjp	3:6d3150d4396a	180	}
shintamainjp	3:6d3150d4396a	181
shintamainjp	3:6d3150d4396a	182	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	183	}
shintamainjp	3:6d3150d4396a	184
shintamainjp	4:ad06342d4b84	185	/**
shintamainjp	4:ad06342d4b84	186	* Get JPEG snapshot picture.
shintamainjp	4:ad06342d4b84	187	*
shintamainjp	4:ad06342d4b84	188	* @param func Pointer to a callback function.
shintamainjp	4:ad06342d4b84	189	* @return Status of the error.
shintamainjp	4:ad06342d4b84	190	*/
shintamainjp	4:ad06342d4b84	191	CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(func)(char buf, size_t siz)) {
shintamainjp	4:ad06342d4b84	192
shintamainjp	4:ad06342d4b84	193	ErrorNumber en;
shintamainjp	4:ad06342d4b84	194
shintamainjp	4:ad06342d4b84	195	en = sendSnapshot(CompressedPicture, 1);
shintamainjp	4:ad06342d4b84	196	if (NoError != en) {
shintamainjp	4:ad06342d4b84	197	return en;
shintamainjp	4:ad06342d4b84	198	}
shintamainjp	4:ad06342d4b84	199	WAITFUNC();
shintamainjp	4:ad06342d4b84	200	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	201	if (NoError != en) {
shintamainjp	4:ad06342d4b84	202	return en;
shintamainjp	4:ad06342d4b84	203	}
shintamainjp	4:ad06342d4b84	204
shintamainjp	4:ad06342d4b84	205	en = sendGetPicture(SnapshotPicture);
shintamainjp	4:ad06342d4b84	206	if (NoError != en) {
shintamainjp	4:ad06342d4b84	207	return en;
shintamainjp	4:ad06342d4b84	208	}
shintamainjp	4:ad06342d4b84	209	WAITFUNC();
shintamainjp	4:ad06342d4b84	210	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	211	if (NoError != en) {
shintamainjp	4:ad06342d4b84	212	return en;
shintamainjp	4:ad06342d4b84	213	}
shintamainjp	4:ad06342d4b84	214
shintamainjp	4:ad06342d4b84	215	/*
shintamainjp	4:ad06342d4b84	216	* Data : snapshot picture
shintamainjp	4:ad06342d4b84	217	*/
shintamainjp	4:ad06342d4b84	218	DataType dt;
shintamainjp	4:ad06342d4b84	219	uint32_t length = 0;
shintamainjp	4:ad06342d4b84	220	WAITFUNC();
shintamainjp	4:ad06342d4b84	221	en = recvData(&dt, &length);
shintamainjp	4:ad06342d4b84	222	if (NoError != en) {
shintamainjp	4:ad06342d4b84	223	return en;
shintamainjp	4:ad06342d4b84	224	}
shintamainjp	4:ad06342d4b84	225	en = sendAck(0x00, 0);
shintamainjp	4:ad06342d4b84	226	if (NoError != en) {
shintamainjp	4:ad06342d4b84	227	return en;
shintamainjp	4:ad06342d4b84	228	}
shintamainjp	4:ad06342d4b84	229
shintamainjp	4:ad06342d4b84	230	char databuf[packageSize - 6];
shintamainjp	4:ad06342d4b84	231	uint16_t pkg_total = length / (packageSize - 6);
shintamainjp	4:ad06342d4b84	232	for (int i = 0; i <= (int)pkg_total; i++) {
shintamainjp	4:ad06342d4b84	233	uint16_t checksum = 0;
shintamainjp	4:ad06342d4b84	234	// ID.
shintamainjp	4:ad06342d4b84	235	char idbuf[2];
shintamainjp	10:b04f3444b794	236	WAITFUNC();
shintamainjp	4:ad06342d4b84	237	if (!RECVFUNC(idbuf, sizeof(idbuf))) {
shintamainjp	4:ad06342d4b84	238	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	239	}
shintamainjp	4:ad06342d4b84	240	checksum += idbuf[0];
shintamainjp	4:ad06342d4b84	241	checksum += idbuf[1];
shintamainjp	4:ad06342d4b84	242	uint16_t id = (idbuf[1] << 8) \| (idbuf[0] << 0);
shintamainjp	4:ad06342d4b84	243	if (id != i) {
shintamainjp	4:ad06342d4b84	244	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	245	}
shintamainjp	4:ad06342d4b84	246
shintamainjp	4:ad06342d4b84	247	// Size of the data.
shintamainjp	4:ad06342d4b84	248	char dsbuf[2];
shintamainjp	10:b04f3444b794	249	WAITFUNC();
shintamainjp	4:ad06342d4b84	250	if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
shintamainjp	4:ad06342d4b84	251	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	252	}
shintamainjp	4:ad06342d4b84	253
shintamainjp	4:ad06342d4b84	254	// Received the data.
shintamainjp	4:ad06342d4b84	255	checksum += dsbuf[0];
shintamainjp	4:ad06342d4b84	256	checksum += dsbuf[1];
shintamainjp	4:ad06342d4b84	257	uint16_t ds = (dsbuf[1] << 8) \| (dsbuf[0] << 0);
shintamainjp	10:b04f3444b794	258	WAITFUNC();
shintamainjp	4:ad06342d4b84	259	if (!RECVFUNC(&databuf[0], ds)) {
shintamainjp	4:ad06342d4b84	260	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	261	}
shintamainjp	4:ad06342d4b84	262	for (int j = 0; j < ds; j++) {
shintamainjp	4:ad06342d4b84	263	checksum += databuf[j];
shintamainjp	4:ad06342d4b84	264	}
shintamainjp	4:ad06342d4b84	265
shintamainjp	4:ad06342d4b84	266	// Verify code.
shintamainjp	4:ad06342d4b84	267	char vcbuf[2];
shintamainjp	10:b04f3444b794	268	WAITFUNC();
shintamainjp	4:ad06342d4b84	269	if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
shintamainjp	4:ad06342d4b84	270	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	271	}
shintamainjp	4:ad06342d4b84	272	uint16_t vc = (vcbuf[1] << 8) \| (vcbuf[0] << 0);
shintamainjp	4:ad06342d4b84	273	if (vc != (checksum & 0xff)) {
shintamainjp	4:ad06342d4b84	274	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	275	}
shintamainjp	4:ad06342d4b84	276
shintamainjp	4:ad06342d4b84	277	func(databuf, ds);
shintamainjp	4:ad06342d4b84	278
shintamainjp	4:ad06342d4b84	279	en = sendAck(0x00, 1 + i);
shintamainjp	4:ad06342d4b84	280	if (NoError != en) {
shintamainjp	4:ad06342d4b84	281	return en;
shintamainjp	4:ad06342d4b84	282	}
shintamainjp	4:ad06342d4b84	283	}
shintamainjp	4:ad06342d4b84	284
shintamainjp	4:ad06342d4b84	285	return (ErrorNumber)NoError;
shintamainjp	4:ad06342d4b84	286	}
shintamainjp	4:ad06342d4b84	287
shintamainjp	4:ad06342d4b84	288	/**
shintamainjp	4:ad06342d4b84	289	* Get JPEG preview picture.
shintamainjp	4:ad06342d4b84	290	*
shintamainjp	4:ad06342d4b84	291	* @param func Pointer to a callback function.
shintamainjp	4:ad06342d4b84	292	* @return Status of the error.
shintamainjp	4:ad06342d4b84	293	*/
shintamainjp	4:ad06342d4b84	294	CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(func)(char buf, size_t siz)) {
shintamainjp	4:ad06342d4b84	295
shintamainjp	4:ad06342d4b84	296	ErrorNumber en;
shintamainjp	4:ad06342d4b84	297
shintamainjp	4:ad06342d4b84	298	en = sendGetPicture(JpegPreviewPicture);
shintamainjp	4:ad06342d4b84	299	if (NoError != en) {
shintamainjp	4:ad06342d4b84	300	return en;
shintamainjp	4:ad06342d4b84	301	}
shintamainjp	4:ad06342d4b84	302	WAITFUNC();
shintamainjp	4:ad06342d4b84	303	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	304	if (NoError != en) {
shintamainjp	4:ad06342d4b84	305	return en;
shintamainjp	4:ad06342d4b84	306	}
shintamainjp	4:ad06342d4b84	307
shintamainjp	4:ad06342d4b84	308	/*
shintamainjp	4:ad06342d4b84	309	* Data : JPEG preview picture
shintamainjp	4:ad06342d4b84	310	*/
shintamainjp	4:ad06342d4b84	311	DataType dt;
shintamainjp	4:ad06342d4b84	312	uint32_t length = 0;
shintamainjp	4:ad06342d4b84	313	WAITFUNC();
shintamainjp	4:ad06342d4b84	314	en = recvData(&dt, &length);
shintamainjp	4:ad06342d4b84	315	if (NoError != en) {
shintamainjp	4:ad06342d4b84	316	return en;
shintamainjp	4:ad06342d4b84	317	}
shintamainjp	4:ad06342d4b84	318	en = sendAck(0x00, 0);
shintamainjp	4:ad06342d4b84	319	if (NoError != en) {
shintamainjp	4:ad06342d4b84	320	return en;
shintamainjp	4:ad06342d4b84	321	}
shintamainjp	4:ad06342d4b84	322
shintamainjp	4:ad06342d4b84	323	char databuf[packageSize - 6];
shintamainjp	4:ad06342d4b84	324	uint16_t pkg_total = length / (packageSize - 6);
shintamainjp	4:ad06342d4b84	325	for (int i = 0; i <= (int)pkg_total; i++) {
shintamainjp	4:ad06342d4b84	326	uint16_t checksum = 0;
shintamainjp	4:ad06342d4b84	327	// ID.
shintamainjp	4:ad06342d4b84	328	char idbuf[2];
shintamainjp	10:b04f3444b794	329	WAITFUNC();
shintamainjp	4:ad06342d4b84	330	if (!RECVFUNC(idbuf, sizeof(idbuf))) {
shintamainjp	4:ad06342d4b84	331	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	332	}
shintamainjp	4:ad06342d4b84	333	checksum += idbuf[0];
shintamainjp	4:ad06342d4b84	334	checksum += idbuf[1];
shintamainjp	4:ad06342d4b84	335	uint16_t id = (idbuf[1] << 8) \| (idbuf[0] << 0);
shintamainjp	4:ad06342d4b84	336	if (id != i) {
shintamainjp	4:ad06342d4b84	337	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	338	}
shintamainjp	4:ad06342d4b84	339
shintamainjp	4:ad06342d4b84	340	// Size of the data.
shintamainjp	4:ad06342d4b84	341	char dsbuf[2];
shintamainjp	10:b04f3444b794	342	WAITFUNC();
shintamainjp	4:ad06342d4b84	343	if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
shintamainjp	4:ad06342d4b84	344	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	345	}
shintamainjp	4:ad06342d4b84	346
shintamainjp	4:ad06342d4b84	347	// Received the data.
shintamainjp	4:ad06342d4b84	348	checksum += dsbuf[0];
shintamainjp	4:ad06342d4b84	349	checksum += dsbuf[1];
shintamainjp	4:ad06342d4b84	350	uint16_t ds = (dsbuf[1] << 8) \| (dsbuf[0] << 0);
shintamainjp	10:b04f3444b794	351	WAITFUNC();
shintamainjp	4:ad06342d4b84	352	if (!RECVFUNC(&databuf[0], ds)) {
shintamainjp	4:ad06342d4b84	353	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	354	}
shintamainjp	4:ad06342d4b84	355	for (int j = 0; j < ds; j++) {
shintamainjp	4:ad06342d4b84	356	checksum += databuf[j];
shintamainjp	4:ad06342d4b84	357	}
shintamainjp	4:ad06342d4b84	358
shintamainjp	4:ad06342d4b84	359	// Verify code.
shintamainjp	4:ad06342d4b84	360	char vcbuf[2];
shintamainjp	10:b04f3444b794	361	WAITFUNC();
shintamainjp	4:ad06342d4b84	362	if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
shintamainjp	4:ad06342d4b84	363	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	364	}
shintamainjp	4:ad06342d4b84	365	uint16_t vc = (vcbuf[1] << 8) \| (vcbuf[0] << 0);
shintamainjp	4:ad06342d4b84	366	if (vc != (checksum & 0xff)) {
shintamainjp	4:ad06342d4b84	367	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	368	}
shintamainjp	4:ad06342d4b84	369
shintamainjp	4:ad06342d4b84	370	func(databuf, ds);
shintamainjp	4:ad06342d4b84	371
shintamainjp	4:ad06342d4b84	372	en = sendAck(0x00, 1 + i);
shintamainjp	4:ad06342d4b84	373	if (NoError != en) {
shintamainjp	4:ad06342d4b84	374	return en;
shintamainjp	4:ad06342d4b84	375	}
shintamainjp	4:ad06342d4b84	376	}
shintamainjp	4:ad06342d4b84	377
shintamainjp	4:ad06342d4b84	378	return (ErrorNumber)NoError;
shintamainjp	4:ad06342d4b84	379	}
shintamainjp	4:ad06342d4b84	380
shintamainjp	3:6d3150d4396a	381	CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
shintamainjp	2:6a72fcad5c0a	382	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	383
shintamainjp	2:6a72fcad5c0a	384	send[0] = 0xAA;
shintamainjp	2:6a72fcad5c0a	385	send[1] = 0x01;
shintamainjp	2:6a72fcad5c0a	386	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	387	send[3] = (char)ct;
shintamainjp	2:6a72fcad5c0a	388	send[4] = (char)rr;
shintamainjp	2:6a72fcad5c0a	389	send[5] = (char)jr;
shintamainjp	2:6a72fcad5c0a	390
shintamainjp	2:6a72fcad5c0a	391	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	392	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	393	}
shintamainjp	2:6a72fcad5c0a	394	return (ErrorNumber)NoError;
shintamainjp	2:6a72fcad5c0a	395	}
shintamainjp	2:6a72fcad5c0a	396
shintamainjp	3:6d3150d4396a	397	CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
shintamainjp	2:6a72fcad5c0a	398	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	399
shintamainjp	2:6a72fcad5c0a	400	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	401	send[1] = 0x04;
shintamainjp	3:6d3150d4396a	402	send[2] = (char)pt;
shintamainjp	2:6a72fcad5c0a	403	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	404	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	405	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	406
shintamainjp	2:6a72fcad5c0a	407	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	408	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	409	}
shintamainjp	3:6d3150d4396a	410	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	411	}
shintamainjp	3:6d3150d4396a	412
shintamainjp	3:6d3150d4396a	413	CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
shintamainjp	3:6d3150d4396a	414	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	415	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	416	send[1] = 0x05;
shintamainjp	3:6d3150d4396a	417	send[2] = (char)st;
shintamainjp	3:6d3150d4396a	418	send[3] = (skipFrames >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	419	send[4] = (skipFrames >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	420	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	421
shintamainjp	3:6d3150d4396a	422	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	423	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	424	}
shintamainjp	3:6d3150d4396a	425	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	426	}
shintamainjp	3:6d3150d4396a	427
shintamainjp	3:6d3150d4396a	428	CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
shintamainjp	3:6d3150d4396a	429	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	430	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	431	send[1] = 0x06;
shintamainjp	3:6d3150d4396a	432	send[2] = 0x08;
shintamainjp	3:6d3150d4396a	433	send[3] = (packageSize >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	434	send[4] = (packageSize >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	435	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	436
shintamainjp	3:6d3150d4396a	437	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	438	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	439	}
shintamainjp	3:6d3150d4396a	440	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	441	}
shintamainjp	3:6d3150d4396a	442
shintamainjp	3:6d3150d4396a	443	CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
shintamainjp	3:6d3150d4396a	444	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	445
shintamainjp	3:6d3150d4396a	446	static struct baud_list {
shintamainjp	3:6d3150d4396a	447	Baud baud;
shintamainjp	3:6d3150d4396a	448	uint8_t div1st;
shintamainjp	3:6d3150d4396a	449	uint8_t div2nd;
shintamainjp	3:6d3150d4396a	450	} baudtable [] = {
shintamainjp	3:6d3150d4396a	451	{ Baud7200, 0xff, 0x01 },
shintamainjp	3:6d3150d4396a	452	{ Baud9600, 0xbf, 0x01 },
shintamainjp	3:6d3150d4396a	453	{ Baud14400, 0x7f, 0x01 },
shintamainjp	3:6d3150d4396a	454	{ Baud19200, 0x5f, 0x01 },
shintamainjp	3:6d3150d4396a	455	{ Baud28800, 0x3f, 0x01 },
shintamainjp	3:6d3150d4396a	456	{ Baud38400, 0x2f, 0x01 },
shintamainjp	3:6d3150d4396a	457	{ Baud57600, 0x1f, 0x01 },
shintamainjp	3:6d3150d4396a	458	{ Baud115200, 0x0f, 0x01 }
shintamainjp	3:6d3150d4396a	459	};
shintamainjp	3:6d3150d4396a	460
shintamainjp	3:6d3150d4396a	461	uint8_t div1st = 0x00, div2nd = 0x00;
shintamainjp	3:6d3150d4396a	462	struct baud_list *p = &baudtable[0];
shintamainjp	3:6d3150d4396a	463	for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
shintamainjp	3:6d3150d4396a	464	if (p->baud == baud) {
shintamainjp	3:6d3150d4396a	465	div1st = p->div1st;
shintamainjp	3:6d3150d4396a	466	div2nd = p->div2nd;
shintamainjp	3:6d3150d4396a	467	}
shintamainjp	3:6d3150d4396a	468	p++;
shintamainjp	2:6a72fcad5c0a	469	}
shintamainjp	2:6a72fcad5c0a	470
shintamainjp	3:6d3150d4396a	471	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	472	send[1] = 0x07;
shintamainjp	3:6d3150d4396a	473	send[2] = div1st;
shintamainjp	3:6d3150d4396a	474	send[3] = div2nd;
shintamainjp	3:6d3150d4396a	475	send[4] = 0x00;
shintamainjp	3:6d3150d4396a	476	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	477
shintamainjp	3:6d3150d4396a	478	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	479	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	480	}
shintamainjp	3:6d3150d4396a	481
shintamainjp	3:6d3150d4396a	482	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	483	}
shintamainjp	3:6d3150d4396a	484
shintamainjp	3:6d3150d4396a	485	CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
shintamainjp	3:6d3150d4396a	486	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	487	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	488	send[1] = 0x08;
shintamainjp	3:6d3150d4396a	489	send[2] = (int)rt;
shintamainjp	3:6d3150d4396a	490	send[3] = 0x00;
shintamainjp	3:6d3150d4396a	491	send[4] = 0x00;
shintamainjp	3:6d3150d4396a	492	send[5] = specialReset ? 0xff : 0x00;
shintamainjp	2:6a72fcad5c0a	493	/*
shintamainjp	3:6d3150d4396a	494	* Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
shintamainjp	2:6a72fcad5c0a	495	*/
shintamainjp	2:6a72fcad5c0a	496
shintamainjp	3:6d3150d4396a	497	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	498	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	499	}
shintamainjp	3:6d3150d4396a	500
shintamainjp	3:6d3150d4396a	501	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	502	}
shintamainjp	3:6d3150d4396a	503
shintamainjp	3:6d3150d4396a	504	CameraC328::ErrorNumber CameraC328::sendPowerOff() {
shintamainjp	3:6d3150d4396a	505	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	506	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	507	send[1] = 0x09;
shintamainjp	3:6d3150d4396a	508	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	509	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	510	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	511	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	512
shintamainjp	2:6a72fcad5c0a	513	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	514	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	515	}
shintamainjp	2:6a72fcad5c0a	516
shintamainjp	3:6d3150d4396a	517	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	518	}
shintamainjp	3:6d3150d4396a	519
shintamainjp	3:6d3150d4396a	520	CameraC328::ErrorNumber CameraC328::recvData(DataType dt, uint32_t length) {
shintamainjp	3:6d3150d4396a	521	char recv[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	522	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	2:6a72fcad5c0a	523	return (ErrorNumber)UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	524	}
shintamainjp	2:6a72fcad5c0a	525	if ((0xAA != recv[0]) \|\| (0x0A != recv[1])) {
shintamainjp	3:6d3150d4396a	526	return (ErrorNumber)UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	527	}
shintamainjp	3:6d3150d4396a	528	*dt = (DataType)recv[2];
shintamainjp	3:6d3150d4396a	529	*length = (recv[5] << 16) \| (recv[4] << 8) \| (recv[3] << 0);
shintamainjp	3:6d3150d4396a	530	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	531	}
shintamainjp	2:6a72fcad5c0a	532
shintamainjp	3:6d3150d4396a	533	CameraC328::ErrorNumber CameraC328::sendSync() {
shintamainjp	3:6d3150d4396a	534	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	535	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	536	send[1] = 0x0D;
shintamainjp	3:6d3150d4396a	537	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	538	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	539	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	540	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	541	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	542	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	543	}
shintamainjp	3:6d3150d4396a	544	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	545	}
shintamainjp	2:6a72fcad5c0a	546
shintamainjp	3:6d3150d4396a	547	CameraC328::ErrorNumber CameraC328::recvSync() {
shintamainjp	3:6d3150d4396a	548	char recv[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	549	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	3:6d3150d4396a	550	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	551	}
shintamainjp	3:6d3150d4396a	552	if ((0xAA != recv[0]) \|\| (0x0D != recv[1])) {
shintamainjp	3:6d3150d4396a	553	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	554	}
shintamainjp	2:6a72fcad5c0a	555	return (ErrorNumber)NoError;
shintamainjp	2:6a72fcad5c0a	556	}
shintamainjp	2:6a72fcad5c0a	557
shintamainjp	2:6a72fcad5c0a	558	/**
shintamainjp	3:6d3150d4396a	559	* Send ACK.
shintamainjp	3:6d3150d4396a	560	*
shintamainjp	3:6d3150d4396a	561	* @param commandId The command with that ID is acknowledged by this command.
shintamainjp	3:6d3150d4396a	562	* @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	563	*/
shintamainjp	3:6d3150d4396a	564	CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
shintamainjp	3:6d3150d4396a	565	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	566	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	567	send[1] = 0x0E;
shintamainjp	3:6d3150d4396a	568	send[2] = commandId;
shintamainjp	3:6d3150d4396a	569	send[3] = 0x00; // ACK counter is not used.
shintamainjp	3:6d3150d4396a	570	send[4] = (packageId >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	571	send[5] = (packageId >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	572	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	573	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	574	}
shintamainjp	3:6d3150d4396a	575	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	576	}
shintamainjp	3:6d3150d4396a	577
shintamainjp	3:6d3150d4396a	578	/**
shintamainjp	3:6d3150d4396a	579	* Receive ACK or NCK.
shintamainjp	3:6d3150d4396a	580	*
shintamainjp	3:6d3150d4396a	581	* @return Error number.
shintamainjp	3:6d3150d4396a	582	*/
shintamainjp	3:6d3150d4396a	583	CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
shintamainjp	3:6d3150d4396a	584	char recv[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	585	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	3:6d3150d4396a	586	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	587	}
shintamainjp	3:6d3150d4396a	588	if ((0xAA == recv[0]) && (0x0E == recv[1])) {
shintamainjp	3:6d3150d4396a	589	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	590	}
shintamainjp	3:6d3150d4396a	591	if ((0xAA == recv[0]) && (0x0F == recv[1])) {
shintamainjp	3:6d3150d4396a	592	return (ErrorNumber)recv[4];
shintamainjp	3:6d3150d4396a	593	}
shintamainjp	3:6d3150d4396a	594	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	595	}
shintamainjp	3:6d3150d4396a	596
shintamainjp	3:6d3150d4396a	597	/**
shintamainjp	2:6a72fcad5c0a	598	* Send bytes to camera module.
shintamainjp	2:6a72fcad5c0a	599	*
shintamainjp	2:6a72fcad5c0a	600	* @param buf Pointer to the data buffer.
shintamainjp	2:6a72fcad5c0a	601	* @param len Length of the data buffer.
shintamainjp	2:6a72fcad5c0a	602	*
shintamainjp	2:6a72fcad5c0a	603	* @return True if the data sended.
shintamainjp	2:6a72fcad5c0a	604	*/
shintamainjp	3:6d3150d4396a	605	bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
shintamainjp	2:6a72fcad5c0a	606	for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp	2:6a72fcad5c0a	607	int cnt = 0;
shintamainjp	2:6a72fcad5c0a	608	while (!serial.writeable()) {
shintamainjp	3:6d3150d4396a	609	wait_us(1);
shintamainjp	2:6a72fcad5c0a	610	cnt++;
shintamainjp	3:6d3150d4396a	611	if (timeout_us < cnt) {
shintamainjp	2:6a72fcad5c0a	612	return false;
shintamainjp	2:6a72fcad5c0a	613	}
shintamainjp	2:6a72fcad5c0a	614	}
shintamainjp	2:6a72fcad5c0a	615	serial.putc(buf[i]);
shintamainjp	2:6a72fcad5c0a	616	}
shintamainjp	2:6a72fcad5c0a	617	return true;
shintamainjp	2:6a72fcad5c0a	618	}
shintamainjp	2:6a72fcad5c0a	619
shintamainjp	2:6a72fcad5c0a	620	/**
shintamainjp	2:6a72fcad5c0a	621	* Receive bytes from camera module.
shintamainjp	2:6a72fcad5c0a	622	*
shintamainjp	2:6a72fcad5c0a	623	* @param buf Pointer to the data buffer.
shintamainjp	2:6a72fcad5c0a	624	* @param len Length of the data buffer.
shintamainjp	2:6a72fcad5c0a	625	*
shintamainjp	2:6a72fcad5c0a	626	* @return True if the data received.
shintamainjp	2:6a72fcad5c0a	627	*/
shintamainjp	3:6d3150d4396a	628	bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
shintamainjp	2:6a72fcad5c0a	629	for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp	2:6a72fcad5c0a	630	int cnt = 0;
shintamainjp	2:6a72fcad5c0a	631	while (!serial.readable()) {
shintamainjp	3:6d3150d4396a	632	wait_us(1);
shintamainjp	2:6a72fcad5c0a	633	cnt++;
shintamainjp	3:6d3150d4396a	634	if (timeout_us < cnt) {
shintamainjp	2:6a72fcad5c0a	635	return false;
shintamainjp	2:6a72fcad5c0a	636	}
shintamainjp	2:6a72fcad5c0a	637	}
shintamainjp	2:6a72fcad5c0a	638	buf[i] = serial.getc();
shintamainjp	2:6a72fcad5c0a	639	}
shintamainjp	2:6a72fcad5c0a	640	return true;
shintamainjp	2:6a72fcad5c0a	641	}
shintamainjp	3:6d3150d4396a	642
shintamainjp	3:6d3150d4396a	643	/**
shintamainjp	3:6d3150d4396a	644	* Wait received.
shintamainjp	3:6d3150d4396a	645	*
shintamainjp	3:6d3150d4396a	646	* @return True if the data received.
shintamainjp	3:6d3150d4396a	647	*/
shintamainjp	3:6d3150d4396a	648	bool CameraC328::waitRecv() {
shintamainjp	3:6d3150d4396a	649	while (!serial.readable()) {
shintamainjp	3:6d3150d4396a	650	}
shintamainjp	3:6d3150d4396a	651	return true;
shintamainjp	10:b04f3444b794	652	}

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

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CameraC328

CameraC328.cpp@10:b04f3444b794, 2010-08-30 (annotated)

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