Diff: CameraC328.cpp

Revision:

3:6d3150d4396a

Parent:

2:6a72fcad5c0a

Child:

4:ad06342d4b84

--- a/CameraC328.cpp	Mon Jun 28 13:57:15 2010 +0000
+++ b/CameraC328.cpp	Tue Jun 29 11:45:53 2010 +0000
@@ -1,65 +1,178 @@
+/**
+ * C328-7640 device driver class
+ * Reference documents: C328-7640 User Manual v3.0 2004.8.19
+ *
+ * Version 0.0.1
+ *
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * shinta.main.jp@gmail.com
+ * http://shinta.main.jp/
+ */
+
 #include "CameraC328.h"
 
-Serial debout(USBTX, USBRX);
-
-#if 0
-#define SENDFUNC    sendBytesWithDebugOutput
-#define RECVFUNC    recvBytesWithDebugOutput
-#else
 #define SENDFUNC    sendBytes
 #define RECVFUNC    recvBytes
-#endif
+#define WAITFUNC    waitRecv
 
-CameraC328::CameraC328(PinName tx, PinName rx) : serial(tx, rx), syncdone(false) {
-    serial.baud(BAUD);
+CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
+    serial.baud((int)baud);
 }
 
 CameraC328::~CameraC328() {
 }
 
 CameraC328::ErrorNumber CameraC328::sync() {
-    char send[COMMAND_LENGTH];
-    char recv[COMMAND_LENGTH];
-    send[0] = 0xAA;
-    send[1] = 0x0D;
-    send[2] = 0;
-    send[3] = 0;
-    send[4] = 0;
-    send[5] = 0;
     for (int i = 0; i < SYNCMAX; i++) {
-        if (SENDFUNC(send, sizeof(send))) {
-            if (RECVFUNC(recv, sizeof(recv))) {
-                if ((0xAA == recv[0]) && (0x0E == recv[1])) {
-                    if (RECVFUNC(recv, sizeof(recv))) {
-                        if ((0xAA == recv[0]) && (0x0D == recv[1])) {
-                            send[0] = 0xAA;
-                            send[1] = 0x0E;
-                            send[2] = 0x0D;
-                            send[3] = 0x00;
-                            send[4] = 0x00;
-                            send[5] = 0x00;
-                            if (SENDFUNC(send, sizeof(send))) {
-                                syncdone = true;
-                                /*
-                                 * After synchronization, the camera needs a little time for AEC and AGC to be stable.
-                                 * Users should wait for 1-2 seconds before capturing the first picture.
-                                 */
-                                wait(1);
-                                return NoError;
-                            }
-                        }
+        if (NoError == sendSync()) {
+            if (NoError == recvAckOrNck()) {
+                if (NoError == recvSync()) {
+                    if (NoError == sendAck(0x0D, 0x00)) {
+                        /*
+                         * After synchronization, the camera needs a little time for AEC and AGC to be stable.
+                         * Users should wait for 1-2 seconds before capturing the first picture.
+                         */
+                        wait(2);
+                        return NoError;
                     }
                 }
             }
         }
-        wait(0.200);
+        wait_ms(50);
     }
     return UnexpectedReply;
 }
 
 CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
+    ErrorNumber en;
+
+    en = sendInitial(ct, rr, jr);
+    if (NoError != en) {
+        return en;
+    }
+    WAITFUNC();
+    en = recvAckOrNck();
+    if (NoError != en) {
+        return en;
+    }
+
+    return (ErrorNumber)NoError;
+}
+
+/**
+ * Get uncompressed snapshot picture (uncompressed snapshot picture)
+ *
+ * @param func Pointer to a callback function.
+ * @return Status of the error.
+ */
+CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
+    ErrorNumber en;
+
+    en = sendSnapshot(UncompressedPicture, 0);
+    if (NoError != en) {
+        return en;
+    }
+    WAITFUNC();
+    en = recvAckOrNck();
+    if (NoError != en) {
+        return en;
+    }
+
+    en = sendGetPicture(SnapshotPicture);
+    if (NoError != en) {
+        return en;
+    }
+    WAITFUNC();
+    en = recvAckOrNck();
+    if (NoError != en) {
+        return en;
+    }
+
+    /*
+     * image data
+     */
+    DataType dt;
+    uint32_t length = 0;
+    WAITFUNC();
+    en = recvData(&dt, &length);
+    if (NoError != en) {
+        return en;
+    }
+    size_t imgcnt = 0;
+    for (int i = 0; i < (int)length; i++) {
+        char c;
+        WAITFUNC();
+        if (!RECVFUNC(&c, 1)) {
+            return (ErrorNumber)UnexpectedReply;
+        }
+        imgcnt++;
+        func(imgcnt, length, c);
+    }
+
+    /*
+     * ACK
+     */
+    en = sendAck(0x0A, 0x00);
+    if (NoError != en) {
+        return en;
+    }
+
+    return (ErrorNumber)NoError;
+}
+
+/**
+ * Get uncompressed snapshot picture (uncompressed snapshot picture)
+ *
+ * @param func Pointer to a callback function.
+ * @return Status of the error.
+ */
+CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
+    ErrorNumber en;
+
+    en = sendGetPicture(PreviewPicture);
+    if (NoError != en) {
+        return en;
+    }
+    WAITFUNC();
+    en = recvAckOrNck();
+    if (NoError != en) {
+        return en;
+    }
+
+    /*
+     * image data
+     */
+    DataType dt;
+    uint32_t length = 0;
+    WAITFUNC();
+    en = recvData(&dt, &length);
+    if (NoError != en) {
+        return en;
+    }
+    size_t imgcnt = 0;
+    for (int i = 0; i < (int)length; i++) {
+        char c;
+        WAITFUNC();
+        if (!RECVFUNC(&c, 1)) {
+            return (ErrorNumber)UnexpectedReply;
+        }
+        imgcnt++;
+        func(imgcnt, length, c);
+    }
+
+    /*
+     * ACK
+     */
+    en = sendAck(0x0A, 0x00);
+    if (NoError != en) {
+        return en;
+    }
+
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
     char send[COMMAND_LENGTH];
-    char recv[COMMAND_LENGTH];
 
     send[0] = 0xAA;
     send[1] = 0x01;
@@ -71,36 +184,15 @@
     if (!SENDFUNC(send, sizeof(send))) {
         return (ErrorNumber)SendRegisterTimeout;
     }
-
-    wait(0.2);
-    if (!RECVFUNC(recv, sizeof(recv))) {
-        return (ErrorNumber)UnexpectedReply;
-    }
-
-    if ((0xAA != recv[0]) || (0x0E != recv[1])) {
-        return (ErrorNumber)recv[4];
-    }
-
     return (ErrorNumber)NoError;
 }
 
-/*
- * Get snapshot picture (uncompressed snapshot picture)
- *
- * @param func Pointer to a callback function.
- * @return Status of the error.
- */
-CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
-
+CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
     char send[COMMAND_LENGTH];
-    char recv[COMMAND_LENGTH];
 
-    /*
-     * Snapshot (uncompressed picture)
-     */
     send[0] = 0xAA;
-    send[1] = 0x05;
-    send[2] = (char)UncompressedPicture;
+    send[1] = 0x04;
+    send[2] = (char)pt;
     send[3] = 0x00;
     send[4] = 0x00;
     send[5] = 0x00;
@@ -108,20 +200,105 @@
     if (!SENDFUNC(send, sizeof(send))) {
         return (ErrorNumber)SendRegisterTimeout;
     }
-    if (!RECVFUNC(recv, sizeof(recv))) {
-        return (ErrorNumber)UnexpectedReply;
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
+    char send[COMMAND_LENGTH];
+    send[0] = 0xAA;
+    send[1] = 0x05;
+    send[2] = (char)st;
+    send[3] = (skipFrames >> 0) & 0xff;
+    send[4] = (skipFrames >> 8) & 0xff;
+    send[5] = 0x00;
+
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
+    char send[COMMAND_LENGTH];
+    send[0] = 0xAA;
+    send[1] = 0x06;
+    send[2] = 0x08;
+    send[3] = (packageSize >> 0) & 0xff;
+    send[4] = (packageSize >> 8) & 0xff;
+    send[5] = 0x00;
+
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
     }
-    if ((0xAA != recv[0]) || (0x0E != recv[1])) {
-        return (ErrorNumber)recv[4];
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
+    char send[COMMAND_LENGTH];
+
+    static struct baud_list {
+        Baud baud;
+        uint8_t div1st;
+        uint8_t div2nd;
+    } baudtable [] = {
+        { Baud7200, 0xff, 0x01 },
+        { Baud9600, 0xbf, 0x01 },
+        { Baud14400, 0x7f, 0x01 },
+        { Baud19200, 0x5f, 0x01 },
+        { Baud28800, 0x3f, 0x01 },
+        { Baud38400, 0x2f, 0x01 },
+        { Baud57600, 0x1f, 0x01 },
+        { Baud115200, 0x0f, 0x01 }
+    };
+
+    uint8_t div1st = 0x00, div2nd = 0x00;
+    struct baud_list *p = &baudtable[0];
+    for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
+        if (p->baud == baud) {
+            div1st = p->div1st;
+            div2nd = p->div2nd;
+        }
+        p++;
     }
 
+    send[0] = 0xAA;
+    send[1] = 0x07;
+    send[2] = div1st;
+    send[3] = div2nd;
+    send[4] = 0x00;
+    send[5] = 0x00;
+
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
+    char send[COMMAND_LENGTH];
+    send[0] = 0xAA;
+    send[1] = 0x08;
+    send[2] = (int)rt;
+    send[3] = 0x00;
+    send[4] = 0x00;
+    send[5] = specialReset ? 0xff : 0x00;
     /*
-     * Get picture (snapshot picture)
+     * Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
      */
 
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::sendPowerOff() {
+    char send[COMMAND_LENGTH];
     send[0] = 0xAA;
-    send[1] = 0x04;
-    send[2] = (char)SnapshotPicture;
+    send[1] = 0x09;
+    send[2] = 0x00;
     send[3] = 0x00;
     send[4] = 0x00;
     send[5] = 0x00;
@@ -129,52 +306,88 @@
     if (!SENDFUNC(send, sizeof(send))) {
         return (ErrorNumber)SendRegisterTimeout;
     }
-    if (!RECVFUNC(recv, sizeof(recv))) {
-        return (ErrorNumber)UnexpectedReply;
-    }
-    if ((0xAA != recv[0]) || (0x0E != recv[1])) {
-        return (ErrorNumber)recv[4];
-    }
 
-    /*
-     * image data
-     */
-    while (!serial.readable()) {
-    }
+    return (ErrorNumber)NoError;
+}
+
+CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) {
+    char recv[COMMAND_LENGTH];
     if (!RECVFUNC(recv, sizeof(recv))) {
         return (ErrorNumber)UnexpectedReply;
     }
     if ((0xAA != recv[0]) || (0x0A != recv[1])) {
-        return (ErrorNumber)recv[4];
+        return (ErrorNumber)UnexpectedReply;
     }
-    size_t imgsiz = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
-    size_t imgcnt = 0;
-    for (int i = 0; i < (int)imgsiz; i++) {
-        char c;
-        if (!RECVFUNC(&c, 1)) {
-            return (ErrorNumber)UnexpectedReply;
-        }
-        imgcnt++;
-        func(imgcnt, imgsiz, c);
-    }
+    *dt = (DataType)recv[2];
+    *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
+    return (ErrorNumber)NoError;
+}
 
-    /*
-     * ACK
-     */
+CameraC328::ErrorNumber CameraC328::sendSync() {
+    char send[COMMAND_LENGTH];
     send[0] = 0xAA;
-    send[1] = 0x0E;
-    send[2] = 0x0A;
+    send[1] = 0x0D;
+    send[2] = 0x00;
     send[3] = 0x00;
     send[4] = 0x00;
     send[5] = 0x00;
     if (!SENDFUNC(send, sizeof(send))) {
         return (ErrorNumber)SendRegisterTimeout;
     }
+    return (ErrorNumber)NoError;
+}
 
+CameraC328::ErrorNumber CameraC328::recvSync() {
+    char recv[COMMAND_LENGTH];
+    if (!RECVFUNC(recv, sizeof(recv))) {
+        return (ErrorNumber)UnexpectedReply;
+    }
+    if ((0xAA != recv[0]) || (0x0D != recv[1])) {
+        return (ErrorNumber)UnexpectedReply;
+    }
     return (ErrorNumber)NoError;
 }
 
 /**
+ * Send ACK.
+ *
+ * @param commandId The command with that ID is acknowledged by this command.
+ * @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.
+ */
+CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
+    char send[COMMAND_LENGTH];
+    send[0] = 0xAA;
+    send[1] = 0x0E;
+    send[2] = commandId;
+    send[3] = 0x00;    // ACK counter is not used.
+    send[4] = (packageId >> 0) & 0xff;
+    send[5] = (packageId >> 8) & 0xff;
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+    return (ErrorNumber)NoError;
+}
+
+/**
+ * Receive ACK or NCK.
+ *
+ * @return Error number.
+ */
+CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
+    char recv[COMMAND_LENGTH];
+    if (!RECVFUNC(recv, sizeof(recv))) {
+        return (ErrorNumber)UnexpectedReply;
+    }
+    if ((0xAA == recv[0]) && (0x0E == recv[1])) {
+        return (ErrorNumber)NoError;
+    }
+    if ((0xAA == recv[0]) && (0x0F == recv[1])) {
+        return (ErrorNumber)recv[4];
+    }
+    return (ErrorNumber)UnexpectedReply;
+}
+
+/**
  * Send bytes to camera module.
  *
  * @param buf Pointer to the data buffer.
@@ -182,13 +395,13 @@
  *
  * @return True if the data sended.
  */
-bool CameraC328::sendBytes(char *buf, size_t len) {
+bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
     for (uint32_t i = 0; i < (uint32_t)len; i++) {
         int cnt = 0;
         while (!serial.writeable()) {
-            wait(0.000001);
+            wait_us(1);
             cnt++;
-            if (TIMEOUT_US < cnt) {
+            if (timeout_us < cnt) {
                 return false;
             }
         }
@@ -198,56 +411,6 @@
 }
 
 /**
- * Send bytes to camera module.
- *
- * @param buf Pointer to the data buffer.
- * @param len Length of the data buffer.
- *
- * @return True if the data sended.
- */
-bool CameraC328::sendBytesWithDebugOutput(char *buf, size_t len) {
-    debout.printf("SEND : ");
-    for (uint32_t i = 0; i < (uint32_t)len; i++) {
-        int cnt = 0;
-        while (!serial.writeable()) {
-            wait(0.000001);
-            cnt++;
-            if (TIMEOUT_US < cnt) {
-                debout.printf(" [Timed out]\n");
-                return false;
-            }
-        }
-        serial.putc(buf[i]);
-        debout.printf(" %02X", buf[i]);
-    }
-    debout.printf(" [OK]\n");
-    return true;
-}
-
-/**
- * Receive bytes from camera module.
- *
- * @param buf Pointer to the data buffer.
- * @param len Length of the data buffer.
- *
- * @return True if the data received.
- */
-bool CameraC328::recvBytes(char *buf, size_t len) {
-    for (uint32_t i = 0; i < (uint32_t)len; i++) {
-        int cnt = 0;
-        while (!serial.readable()) {
-            wait(0.000001);
-            cnt++;
-            if (TIMEOUT_US < cnt) {
-                return false;
-            }
-        }
-        buf[i] = serial.getc();
-    }
-    return true;
-}
-
-/**
  * Receive bytes from camera module.
  *
  * @param buf Pointer to the data buffer.
@@ -255,21 +418,28 @@
  *
  * @return True if the data received.
  */
-bool CameraC328::recvBytesWithDebugOutput(char *buf, size_t len) {
-    debout.printf("RECV : ");
+bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
     for (uint32_t i = 0; i < (uint32_t)len; i++) {
         int cnt = 0;
         while (!serial.readable()) {
-            wait(0.000001);
+            wait_us(1);
             cnt++;
-            if (TIMEOUT_US < cnt) {
-                debout.printf(" [Timed out]\n");
+            if (timeout_us < cnt) {
                 return false;
             }
         }
         buf[i] = serial.getc();
-        debout.printf(" %02X", buf[i]);
     }
-    debout.printf(" [OK]\n");
     return true;
 }
+
+/**
+ * Wait received.
+ *
+ * @return True if the data received.
+ */
+bool CameraC328::waitRecv() {
+    while (!serial.readable()) {
+    }
+    return true;
+}
\ No newline at end of file