CameraC328 - CameraC328

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CameraC328

Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more

CameraC328.cpp@7:d0d13822c37a, 2010-07-01 (annotated)

Committer:: shintamainjp
Date:: Thu Jul 01 10:30:22 2010 +0000
Revision:: 7:d0d13822c37a
Parent:: 4:ad06342d4b84
Child:: 10:b04f3444b794

Who changed what in which revision?

User	Revision	Line number	New contents of line
shintamainjp	3:6d3150d4396a	1	/**
shintamainjp	4:ad06342d4b84	2	* C328-7640 device driver class (Version 0.0.2)
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	WAITFUNC();
shintamainjp	4:ad06342d4b84	231
shintamainjp	4:ad06342d4b84	232	char databuf[packageSize - 6];
shintamainjp	4:ad06342d4b84	233	uint16_t pkg_total = length / (packageSize - 6);
shintamainjp	4:ad06342d4b84	234	for (int i = 0; i <= (int)pkg_total; i++) {
shintamainjp	4:ad06342d4b84	235	uint16_t checksum = 0;
shintamainjp	4:ad06342d4b84	236	// ID.
shintamainjp	4:ad06342d4b84	237	char idbuf[2];
shintamainjp	4:ad06342d4b84	238	if (!RECVFUNC(idbuf, sizeof(idbuf))) {
shintamainjp	4:ad06342d4b84	239	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	240	}
shintamainjp	4:ad06342d4b84	241	checksum += idbuf[0];
shintamainjp	4:ad06342d4b84	242	checksum += idbuf[1];
shintamainjp	4:ad06342d4b84	243	uint16_t id = (idbuf[1] << 8) \| (idbuf[0] << 0);
shintamainjp	4:ad06342d4b84	244	if (id != i) {
shintamainjp	4:ad06342d4b84	245	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	246	}
shintamainjp	4:ad06342d4b84	247
shintamainjp	4:ad06342d4b84	248	// Size of the data.
shintamainjp	4:ad06342d4b84	249	char dsbuf[2];
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	4:ad06342d4b84	258	if (!RECVFUNC(&databuf[0], ds)) {
shintamainjp	4:ad06342d4b84	259	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	260	}
shintamainjp	4:ad06342d4b84	261	for (int j = 0; j < ds; j++) {
shintamainjp	4:ad06342d4b84	262	checksum += databuf[j];
shintamainjp	4:ad06342d4b84	263	}
shintamainjp	4:ad06342d4b84	264
shintamainjp	4:ad06342d4b84	265	// Verify code.
shintamainjp	4:ad06342d4b84	266	char vcbuf[2];
shintamainjp	4:ad06342d4b84	267	if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
shintamainjp	4:ad06342d4b84	268	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	269	}
shintamainjp	4:ad06342d4b84	270	uint16_t vc = (vcbuf[1] << 8) \| (vcbuf[0] << 0);
shintamainjp	4:ad06342d4b84	271	if (vc != (checksum & 0xff)) {
shintamainjp	4:ad06342d4b84	272	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	273	}
shintamainjp	4:ad06342d4b84	274
shintamainjp	4:ad06342d4b84	275	func(databuf, ds);
shintamainjp	4:ad06342d4b84	276
shintamainjp	4:ad06342d4b84	277	en = sendAck(0x00, 1 + i);
shintamainjp	4:ad06342d4b84	278	if (NoError != en) {
shintamainjp	4:ad06342d4b84	279	return en;
shintamainjp	4:ad06342d4b84	280	}
shintamainjp	4:ad06342d4b84	281	}
shintamainjp	4:ad06342d4b84	282
shintamainjp	4:ad06342d4b84	283	return (ErrorNumber)NoError;
shintamainjp	4:ad06342d4b84	284	}
shintamainjp	4:ad06342d4b84	285
shintamainjp	4:ad06342d4b84	286	/**
shintamainjp	4:ad06342d4b84	287	* Get JPEG preview picture.
shintamainjp	4:ad06342d4b84	288	*
shintamainjp	4:ad06342d4b84	289	* @param func Pointer to a callback function.
shintamainjp	4:ad06342d4b84	290	* @return Status of the error.
shintamainjp	4:ad06342d4b84	291	*/
shintamainjp	4:ad06342d4b84	292	CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(func)(char buf, size_t siz)) {
shintamainjp	4:ad06342d4b84	293
shintamainjp	4:ad06342d4b84	294	ErrorNumber en;
shintamainjp	4:ad06342d4b84	295
shintamainjp	4:ad06342d4b84	296	en = sendGetPicture(JpegPreviewPicture);
shintamainjp	4:ad06342d4b84	297	if (NoError != en) {
shintamainjp	4:ad06342d4b84	298	return en;
shintamainjp	4:ad06342d4b84	299	}
shintamainjp	4:ad06342d4b84	300	WAITFUNC();
shintamainjp	4:ad06342d4b84	301	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	302	if (NoError != en) {
shintamainjp	4:ad06342d4b84	303	return en;
shintamainjp	4:ad06342d4b84	304	}
shintamainjp	4:ad06342d4b84	305
shintamainjp	4:ad06342d4b84	306	/*
shintamainjp	4:ad06342d4b84	307	* Data : JPEG preview picture
shintamainjp	4:ad06342d4b84	308	*/
shintamainjp	4:ad06342d4b84	309	DataType dt;
shintamainjp	4:ad06342d4b84	310	uint32_t length = 0;
shintamainjp	4:ad06342d4b84	311	WAITFUNC();
shintamainjp	4:ad06342d4b84	312	en = recvData(&dt, &length);
shintamainjp	4:ad06342d4b84	313	if (NoError != en) {
shintamainjp	4:ad06342d4b84	314	return en;
shintamainjp	4:ad06342d4b84	315	}
shintamainjp	4:ad06342d4b84	316	en = sendAck(0x00, 0);
shintamainjp	4:ad06342d4b84	317	if (NoError != en) {
shintamainjp	4:ad06342d4b84	318	return en;
shintamainjp	4:ad06342d4b84	319	}
shintamainjp	4:ad06342d4b84	320
shintamainjp	4:ad06342d4b84	321	WAITFUNC();
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	4:ad06342d4b84	329	if (!RECVFUNC(idbuf, sizeof(idbuf))) {
shintamainjp	4:ad06342d4b84	330	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	331	}
shintamainjp	4:ad06342d4b84	332	checksum += idbuf[0];
shintamainjp	4:ad06342d4b84	333	checksum += idbuf[1];
shintamainjp	4:ad06342d4b84	334	uint16_t id = (idbuf[1] << 8) \| (idbuf[0] << 0);
shintamainjp	4:ad06342d4b84	335	if (id != i) {
shintamainjp	4:ad06342d4b84	336	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	337	}
shintamainjp	4:ad06342d4b84	338
shintamainjp	4:ad06342d4b84	339	// Size of the data.
shintamainjp	4:ad06342d4b84	340	char dsbuf[2];
shintamainjp	4:ad06342d4b84	341	if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
shintamainjp	4:ad06342d4b84	342	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	343	}
shintamainjp	4:ad06342d4b84	344
shintamainjp	4:ad06342d4b84	345	// Received the data.
shintamainjp	4:ad06342d4b84	346	checksum += dsbuf[0];
shintamainjp	4:ad06342d4b84	347	checksum += dsbuf[1];
shintamainjp	4:ad06342d4b84	348	uint16_t ds = (dsbuf[1] << 8) \| (dsbuf[0] << 0);
shintamainjp	4:ad06342d4b84	349	if (!RECVFUNC(&databuf[0], ds)) {
shintamainjp	4:ad06342d4b84	350	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	351	}
shintamainjp	4:ad06342d4b84	352	for (int j = 0; j < ds; j++) {
shintamainjp	4:ad06342d4b84	353	checksum += databuf[j];
shintamainjp	4:ad06342d4b84	354	}
shintamainjp	4:ad06342d4b84	355
shintamainjp	4:ad06342d4b84	356	// Verify code.
shintamainjp	4:ad06342d4b84	357	char vcbuf[2];
shintamainjp	4:ad06342d4b84	358	if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
shintamainjp	4:ad06342d4b84	359	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	360	}
shintamainjp	4:ad06342d4b84	361	uint16_t vc = (vcbuf[1] << 8) \| (vcbuf[0] << 0);
shintamainjp	4:ad06342d4b84	362	if (vc != (checksum & 0xff)) {
shintamainjp	4:ad06342d4b84	363	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	364	}
shintamainjp	4:ad06342d4b84	365
shintamainjp	4:ad06342d4b84	366	func(databuf, ds);
shintamainjp	4:ad06342d4b84	367
shintamainjp	4:ad06342d4b84	368	en = sendAck(0x00, 1 + i);
shintamainjp	4:ad06342d4b84	369	if (NoError != en) {
shintamainjp	4:ad06342d4b84	370	return en;
shintamainjp	4:ad06342d4b84	371	}
shintamainjp	4:ad06342d4b84	372	}
shintamainjp	4:ad06342d4b84	373
shintamainjp	4:ad06342d4b84	374	return (ErrorNumber)NoError;
shintamainjp	4:ad06342d4b84	375	}
shintamainjp	4:ad06342d4b84	376
shintamainjp	3:6d3150d4396a	377	CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
shintamainjp	2:6a72fcad5c0a	378	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	379
shintamainjp	2:6a72fcad5c0a	380	send[0] = 0xAA;
shintamainjp	2:6a72fcad5c0a	381	send[1] = 0x01;
shintamainjp	2:6a72fcad5c0a	382	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	383	send[3] = (char)ct;
shintamainjp	2:6a72fcad5c0a	384	send[4] = (char)rr;
shintamainjp	2:6a72fcad5c0a	385	send[5] = (char)jr;
shintamainjp	2:6a72fcad5c0a	386
shintamainjp	2:6a72fcad5c0a	387	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	388	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	389	}
shintamainjp	2:6a72fcad5c0a	390	return (ErrorNumber)NoError;
shintamainjp	2:6a72fcad5c0a	391	}
shintamainjp	2:6a72fcad5c0a	392
shintamainjp	3:6d3150d4396a	393	CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
shintamainjp	2:6a72fcad5c0a	394	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	395
shintamainjp	2:6a72fcad5c0a	396	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	397	send[1] = 0x04;
shintamainjp	3:6d3150d4396a	398	send[2] = (char)pt;
shintamainjp	2:6a72fcad5c0a	399	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	400	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	401	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	402
shintamainjp	2:6a72fcad5c0a	403	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	404	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	405	}
shintamainjp	3:6d3150d4396a	406	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	407	}
shintamainjp	3:6d3150d4396a	408
shintamainjp	3:6d3150d4396a	409	CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
shintamainjp	3:6d3150d4396a	410	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	411	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	412	send[1] = 0x05;
shintamainjp	3:6d3150d4396a	413	send[2] = (char)st;
shintamainjp	3:6d3150d4396a	414	send[3] = (skipFrames >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	415	send[4] = (skipFrames >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	416	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	417
shintamainjp	3:6d3150d4396a	418	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	419	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	420	}
shintamainjp	3:6d3150d4396a	421	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	422	}
shintamainjp	3:6d3150d4396a	423
shintamainjp	3:6d3150d4396a	424	CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
shintamainjp	3:6d3150d4396a	425	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	426	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	427	send[1] = 0x06;
shintamainjp	3:6d3150d4396a	428	send[2] = 0x08;
shintamainjp	3:6d3150d4396a	429	send[3] = (packageSize >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	430	send[4] = (packageSize >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	431	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	432
shintamainjp	3:6d3150d4396a	433	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	434	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	435	}
shintamainjp	3:6d3150d4396a	436	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	437	}
shintamainjp	3:6d3150d4396a	438
shintamainjp	3:6d3150d4396a	439	CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
shintamainjp	3:6d3150d4396a	440	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	441
shintamainjp	3:6d3150d4396a	442	static struct baud_list {
shintamainjp	3:6d3150d4396a	443	Baud baud;
shintamainjp	3:6d3150d4396a	444	uint8_t div1st;
shintamainjp	3:6d3150d4396a	445	uint8_t div2nd;
shintamainjp	3:6d3150d4396a	446	} baudtable [] = {
shintamainjp	3:6d3150d4396a	447	{ Baud7200, 0xff, 0x01 },
shintamainjp	3:6d3150d4396a	448	{ Baud9600, 0xbf, 0x01 },
shintamainjp	3:6d3150d4396a	449	{ Baud14400, 0x7f, 0x01 },
shintamainjp	3:6d3150d4396a	450	{ Baud19200, 0x5f, 0x01 },
shintamainjp	3:6d3150d4396a	451	{ Baud28800, 0x3f, 0x01 },
shintamainjp	3:6d3150d4396a	452	{ Baud38400, 0x2f, 0x01 },
shintamainjp	3:6d3150d4396a	453	{ Baud57600, 0x1f, 0x01 },
shintamainjp	3:6d3150d4396a	454	{ Baud115200, 0x0f, 0x01 }
shintamainjp	3:6d3150d4396a	455	};
shintamainjp	3:6d3150d4396a	456
shintamainjp	3:6d3150d4396a	457	uint8_t div1st = 0x00, div2nd = 0x00;
shintamainjp	3:6d3150d4396a	458	struct baud_list *p = &baudtable[0];
shintamainjp	3:6d3150d4396a	459	for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
shintamainjp	3:6d3150d4396a	460	if (p->baud == baud) {
shintamainjp	3:6d3150d4396a	461	div1st = p->div1st;
shintamainjp	3:6d3150d4396a	462	div2nd = p->div2nd;
shintamainjp	3:6d3150d4396a	463	}
shintamainjp	3:6d3150d4396a	464	p++;
shintamainjp	2:6a72fcad5c0a	465	}
shintamainjp	2:6a72fcad5c0a	466
shintamainjp	3:6d3150d4396a	467	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	468	send[1] = 0x07;
shintamainjp	3:6d3150d4396a	469	send[2] = div1st;
shintamainjp	3:6d3150d4396a	470	send[3] = div2nd;
shintamainjp	3:6d3150d4396a	471	send[4] = 0x00;
shintamainjp	3:6d3150d4396a	472	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	473
shintamainjp	3:6d3150d4396a	474	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	475	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	476	}
shintamainjp	3:6d3150d4396a	477
shintamainjp	3:6d3150d4396a	478	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	479	}
shintamainjp	3:6d3150d4396a	480
shintamainjp	3:6d3150d4396a	481	CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
shintamainjp	3:6d3150d4396a	482	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	483	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	484	send[1] = 0x08;
shintamainjp	3:6d3150d4396a	485	send[2] = (int)rt;
shintamainjp	3:6d3150d4396a	486	send[3] = 0x00;
shintamainjp	3:6d3150d4396a	487	send[4] = 0x00;
shintamainjp	3:6d3150d4396a	488	send[5] = specialReset ? 0xff : 0x00;
shintamainjp	2:6a72fcad5c0a	489	/*
shintamainjp	3:6d3150d4396a	490	* Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
shintamainjp	2:6a72fcad5c0a	491	*/
shintamainjp	2:6a72fcad5c0a	492
shintamainjp	3:6d3150d4396a	493	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	494	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	495	}
shintamainjp	3:6d3150d4396a	496
shintamainjp	3:6d3150d4396a	497	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	498	}
shintamainjp	3:6d3150d4396a	499
shintamainjp	3:6d3150d4396a	500	CameraC328::ErrorNumber CameraC328::sendPowerOff() {
shintamainjp	3:6d3150d4396a	501	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	502	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	503	send[1] = 0x09;
shintamainjp	3:6d3150d4396a	504	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	505	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	506	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	507	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	508
shintamainjp	2:6a72fcad5c0a	509	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	510	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	511	}
shintamainjp	2:6a72fcad5c0a	512
shintamainjp	3:6d3150d4396a	513	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	514	}
shintamainjp	3:6d3150d4396a	515
shintamainjp	3:6d3150d4396a	516	CameraC328::ErrorNumber CameraC328::recvData(DataType dt, uint32_t length) {
shintamainjp	3:6d3150d4396a	517	char recv[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	518	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	2:6a72fcad5c0a	519	return (ErrorNumber)UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	520	}
shintamainjp	2:6a72fcad5c0a	521	if ((0xAA != recv[0]) \|\| (0x0A != recv[1])) {
shintamainjp	3:6d3150d4396a	522	return (ErrorNumber)UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	523	}
shintamainjp	3:6d3150d4396a	524	*dt = (DataType)recv[2];
shintamainjp	3:6d3150d4396a	525	*length = (recv[5] << 16) \| (recv[4] << 8) \| (recv[3] << 0);
shintamainjp	3:6d3150d4396a	526	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	527	}
shintamainjp	2:6a72fcad5c0a	528
shintamainjp	3:6d3150d4396a	529	CameraC328::ErrorNumber CameraC328::sendSync() {
shintamainjp	3:6d3150d4396a	530	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	531	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	532	send[1] = 0x0D;
shintamainjp	3:6d3150d4396a	533	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	534	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	535	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	536	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	537	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	538	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	539	}
shintamainjp	3:6d3150d4396a	540	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	541	}
shintamainjp	2:6a72fcad5c0a	542
shintamainjp	3:6d3150d4396a	543	CameraC328::ErrorNumber CameraC328::recvSync() {
shintamainjp	3:6d3150d4396a	544	char recv[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	545	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	3:6d3150d4396a	546	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	547	}
shintamainjp	3:6d3150d4396a	548	if ((0xAA != recv[0]) \|\| (0x0D != recv[1])) {
shintamainjp	3:6d3150d4396a	549	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	550	}
shintamainjp	2:6a72fcad5c0a	551	return (ErrorNumber)NoError;
shintamainjp	2:6a72fcad5c0a	552	}
shintamainjp	2:6a72fcad5c0a	553
shintamainjp	2:6a72fcad5c0a	554	/**
shintamainjp	3:6d3150d4396a	555	* Send ACK.
shintamainjp	3:6d3150d4396a	556	*
shintamainjp	3:6d3150d4396a	557	* @param commandId The command with that ID is acknowledged by this command.
shintamainjp	3:6d3150d4396a	558	* @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	559	*/
shintamainjp	3:6d3150d4396a	560	CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
shintamainjp	3:6d3150d4396a	561	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	562	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	563	send[1] = 0x0E;
shintamainjp	3:6d3150d4396a	564	send[2] = commandId;
shintamainjp	3:6d3150d4396a	565	send[3] = 0x00; // ACK counter is not used.
shintamainjp	3:6d3150d4396a	566	send[4] = (packageId >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	567	send[5] = (packageId >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	568	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	569	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	570	}
shintamainjp	3:6d3150d4396a	571	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	572	}
shintamainjp	3:6d3150d4396a	573
shintamainjp	3:6d3150d4396a	574	/**
shintamainjp	3:6d3150d4396a	575	* Receive ACK or NCK.
shintamainjp	3:6d3150d4396a	576	*
shintamainjp	3:6d3150d4396a	577	* @return Error number.
shintamainjp	3:6d3150d4396a	578	*/
shintamainjp	3:6d3150d4396a	579	CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
shintamainjp	3:6d3150d4396a	580	char recv[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	581	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	3:6d3150d4396a	582	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	583	}
shintamainjp	3:6d3150d4396a	584	if ((0xAA == recv[0]) && (0x0E == recv[1])) {
shintamainjp	3:6d3150d4396a	585	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	586	}
shintamainjp	3:6d3150d4396a	587	if ((0xAA == recv[0]) && (0x0F == recv[1])) {
shintamainjp	3:6d3150d4396a	588	return (ErrorNumber)recv[4];
shintamainjp	3:6d3150d4396a	589	}
shintamainjp	3:6d3150d4396a	590	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	591	}
shintamainjp	3:6d3150d4396a	592
shintamainjp	3:6d3150d4396a	593	/**
shintamainjp	2:6a72fcad5c0a	594	* Send bytes to camera module.
shintamainjp	2:6a72fcad5c0a	595	*
shintamainjp	2:6a72fcad5c0a	596	* @param buf Pointer to the data buffer.
shintamainjp	2:6a72fcad5c0a	597	* @param len Length of the data buffer.
shintamainjp	2:6a72fcad5c0a	598	*
shintamainjp	2:6a72fcad5c0a	599	* @return True if the data sended.
shintamainjp	2:6a72fcad5c0a	600	*/
shintamainjp	3:6d3150d4396a	601	bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
shintamainjp	2:6a72fcad5c0a	602	for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp	2:6a72fcad5c0a	603	int cnt = 0;
shintamainjp	2:6a72fcad5c0a	604	while (!serial.writeable()) {
shintamainjp	3:6d3150d4396a	605	wait_us(1);
shintamainjp	2:6a72fcad5c0a	606	cnt++;
shintamainjp	3:6d3150d4396a	607	if (timeout_us < cnt) {
shintamainjp	2:6a72fcad5c0a	608	return false;
shintamainjp	2:6a72fcad5c0a	609	}
shintamainjp	2:6a72fcad5c0a	610	}
shintamainjp	2:6a72fcad5c0a	611	serial.putc(buf[i]);
shintamainjp	2:6a72fcad5c0a	612	}
shintamainjp	2:6a72fcad5c0a	613	return true;
shintamainjp	2:6a72fcad5c0a	614	}
shintamainjp	2:6a72fcad5c0a	615
shintamainjp	2:6a72fcad5c0a	616	/**
shintamainjp	2:6a72fcad5c0a	617	* Receive bytes from camera module.
shintamainjp	2:6a72fcad5c0a	618	*
shintamainjp	2:6a72fcad5c0a	619	* @param buf Pointer to the data buffer.
shintamainjp	2:6a72fcad5c0a	620	* @param len Length of the data buffer.
shintamainjp	2:6a72fcad5c0a	621	*
shintamainjp	2:6a72fcad5c0a	622	* @return True if the data received.
shintamainjp	2:6a72fcad5c0a	623	*/
shintamainjp	3:6d3150d4396a	624	bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
shintamainjp	2:6a72fcad5c0a	625	for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp	2:6a72fcad5c0a	626	int cnt = 0;
shintamainjp	2:6a72fcad5c0a	627	while (!serial.readable()) {
shintamainjp	3:6d3150d4396a	628	wait_us(1);
shintamainjp	2:6a72fcad5c0a	629	cnt++;
shintamainjp	3:6d3150d4396a	630	if (timeout_us < cnt) {
shintamainjp	2:6a72fcad5c0a	631	return false;
shintamainjp	2:6a72fcad5c0a	632	}
shintamainjp	2:6a72fcad5c0a	633	}
shintamainjp	2:6a72fcad5c0a	634	buf[i] = serial.getc();
shintamainjp	2:6a72fcad5c0a	635	}
shintamainjp	2:6a72fcad5c0a	636	return true;
shintamainjp	2:6a72fcad5c0a	637	}
shintamainjp	3:6d3150d4396a	638
shintamainjp	3:6d3150d4396a	639	/**
shintamainjp	3:6d3150d4396a	640	* Wait received.
shintamainjp	3:6d3150d4396a	641	*
shintamainjp	3:6d3150d4396a	642	* @return True if the data received.
shintamainjp	3:6d3150d4396a	643	*/
shintamainjp	3:6d3150d4396a	644	bool CameraC328::waitRecv() {
shintamainjp	3:6d3150d4396a	645	while (!serial.readable()) {
shintamainjp	3:6d3150d4396a	646	}
shintamainjp	3:6d3150d4396a	647	return true;
shintamainjp	3:6d3150d4396a	648	}

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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@7:d0d13822c37a, 2010-07-01 (annotated)

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