CameraC328
Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more
Diff: CameraC328.cpp
- Revision:
- 13:17cf1e2015f7
- Parent:
- 12:4daa8c068bc5
diff -r 4daa8c068bc5 -r 17cf1e2015f7 CameraC328.cpp --- a/CameraC328.cpp Mon Aug 30 22:24:39 2010 +0000 +++ b/CameraC328.cpp Fri Sep 17 11:15:37 2010 +0000 @@ -1,678 +1,720 @@ -/** - * C328-7640 device driver class (Version 0.0.4) - * Reference documents: C328-7640 User Manual v3.0 2004.8.19 - * - * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems) - * http://shinta.main.jp/ - */ - -#include "CameraC328.h" - -#define SENDFUNC sendBytes -#define RECVFUNC recvBytes -#define WAITFUNC waitRecv - -CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) { - serial.baud((int)baud); -} - -CameraC328::~CameraC328() { -} - -CameraC328::ErrorNumber CameraC328::sync() { - for (int i = 0; i < SYNCMAX; i++) { - 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_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; - } - - static bool alreadySetupPackageSize = false; - if (!alreadySetupPackageSize) { - en = sendSetPackageSize(packageSize); - if (NoError != en) { - return en; - } - WAITFUNC(); - en = recvAckOrNck(); - if (NoError != en) { - return en; - } - alreadySetupPackageSize = true; - } - - return (ErrorNumber)NoError; -} - -/** - * Get 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++; - - /* - * Call a call back function. - * Please do not block this function. - */ - func(imgcnt, length, c); - } - - /* - * ACK - */ - en = sendAck(0x0A, 0x00); - if (NoError != en) { - return en; - } - - return (ErrorNumber)NoError; -} - -/** - * Get uncompressed preview 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++; - - /* - * Call a call back function. - * Please do not block this function. - */ - func(imgcnt, length, c); - } - - /* - * ACK - */ - en = sendAck(0x0A, 0x00); - if (NoError != en) { - return en; - } - - return (ErrorNumber)NoError; -} - -/** - * Get JPEG snapshot picture. - * - * @param func Pointer to a callback function. - * @return Status of the error. - */ -CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) { - - ErrorNumber en; - - en = sendSnapshot(CompressedPicture, 1); - 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; - } - - /* - * Data : snapshot picture - */ - DataType dt; - uint32_t length = 0; - WAITFUNC(); - en = recvData(&dt, &length); - if (NoError != en) { - return en; - } - en = sendAck(0x00, 0); - if (NoError != en) { - return en; - } - - char databuf[packageSize - 6]; - uint16_t pkg_total = length / (packageSize - 6); - for (int i = 0; i <= (int)pkg_total; i++) { - uint16_t checksum = 0; - // ID. - char idbuf[2]; - WAITFUNC(); - if (!RECVFUNC(idbuf, sizeof(idbuf))) { - return (ErrorNumber)UnexpectedReply; - } - checksum += idbuf[0]; - checksum += idbuf[1]; - uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); - if (id != i) { - return (ErrorNumber)UnexpectedReply; - } - - // Size of the data. - char dsbuf[2]; - WAITFUNC(); - if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { - return (ErrorNumber)UnexpectedReply; - } - - // Received the data. - checksum += dsbuf[0]; - checksum += dsbuf[1]; - uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); - WAITFUNC(); - if (!RECVFUNC(&databuf[0], ds)) { - return (ErrorNumber)UnexpectedReply; - } - for (int j = 0; j < ds; j++) { - checksum += databuf[j]; - } - - // Verify code. - char vcbuf[2]; - WAITFUNC(); - if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { - return (ErrorNumber)UnexpectedReply; - } - uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); - if (vc != (checksum & 0xff)) { - return (ErrorNumber)UnexpectedReply; - } - - /* - * Call a call back function. - * You can block this function while working. - */ - func(databuf, ds); - - /* - * We should wait for camera working before reply a ACK. - */ - wait_ms(100); - en = sendAck(0x00, 1 + i); - if (NoError != en) { - return en; - } - } - - return (ErrorNumber)NoError; -} - -/** - * Get JPEG preview picture. - * - * @param func Pointer to a callback function. - * @return Status of the error. - */ -CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) { - - ErrorNumber en; - - en = sendGetPicture(JpegPreviewPicture); - if (NoError != en) { - return en; - } - WAITFUNC(); - en = recvAckOrNck(); - if (NoError != en) { - return en; - } - - /* - * Data : JPEG preview picture - */ - DataType dt; - uint32_t length = 0; - WAITFUNC(); - en = recvData(&dt, &length); - if (NoError != en) { - return en; - } - en = sendAck(0x00, 0); - if (NoError != en) { - return en; - } - - char databuf[packageSize - 6]; - uint16_t pkg_total = length / (packageSize - 6); - for (int i = 0; i <= (int)pkg_total; i++) { - uint16_t checksum = 0; - // ID. - char idbuf[2]; - WAITFUNC(); - if (!RECVFUNC(idbuf, sizeof(idbuf))) { - return (ErrorNumber)UnexpectedReply; - } - checksum += idbuf[0]; - checksum += idbuf[1]; - uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); - if (id != i) { - return (ErrorNumber)UnexpectedReply; - } - - // Size of the data. - char dsbuf[2]; - WAITFUNC(); - if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { - return (ErrorNumber)UnexpectedReply; - } - - // Received the data. - checksum += dsbuf[0]; - checksum += dsbuf[1]; - uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); - WAITFUNC(); - if (!RECVFUNC(&databuf[0], ds)) { - return (ErrorNumber)UnexpectedReply; - } - for (int j = 0; j < ds; j++) { - checksum += databuf[j]; - } - - // Verify code. - char vcbuf[2]; - WAITFUNC(); - if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { - return (ErrorNumber)UnexpectedReply; - } - uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); - if (vc != (checksum & 0xff)) { - return (ErrorNumber)UnexpectedReply; - } - - /* - * Call a call back function. - * You can block this function while working. - */ - func(databuf, ds); - - /* - * We should wait for camera working before reply a ACK. - */ - wait_ms(100); - en = sendAck(0x00, 1 + i); - if (NoError != en) { - return en; - } - } - - return (ErrorNumber)NoError; -} - -CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) { - char send[COMMAND_LENGTH]; - - send[0] = 0xAA; - send[1] = 0x01; - send[2] = 0x00; - send[3] = (char)ct; - send[4] = (char)rr; - send[5] = (char)jr; - - if (!SENDFUNC(send, sizeof(send))) { - return (ErrorNumber)SendRegisterTimeout; - } - return (ErrorNumber)NoError; -} - -CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) { - char send[COMMAND_LENGTH]; - - send[0] = 0xAA; - send[1] = 0x04; - send[2] = (char)pt; - send[3] = 0x00; - send[4] = 0x00; - send[5] = 0x00; - - if (!SENDFUNC(send, sizeof(send))) { - return (ErrorNumber)SendRegisterTimeout; - } - 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; - } - 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; - /* - * 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] = 0x09; - 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::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)UnexpectedReply; - } - *dt = (DataType)recv[2]; - *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0); - return (ErrorNumber)NoError; -} - -CameraC328::ErrorNumber CameraC328::sendSync() { - char send[COMMAND_LENGTH]; - send[0] = 0xAA; - 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. - * @param len Length of the data buffer. - * - * @return True if the data sended. - */ -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_us(1); - cnt++; - if (timeout_us < cnt) { - return false; - } - } - serial.putc(buf[i]); - } - 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, int timeout_us) { - for (uint32_t i = 0; i < (uint32_t)len; i++) { - int cnt = 0; - while (!serial.readable()) { - wait_us(1); - cnt++; - if (timeout_us < cnt) { - return false; - } - } - buf[i] = serial.getc(); - } - return true; -} - -/** - * Wait received. - * - * @return True if the data received. - */ -bool CameraC328::waitRecv() { - while (!serial.readable()) { - } - return true; -} +/** + * C328-7640 device driver class (Version 0.0.6) + * Reference documents: C328-7640 User Manual v3.0 2004.8.19 + * + * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems) + * http://shinta.main.jp/ + */ + +#include "CameraC328.h" + +#define WAITIDLE waitIdle +#define SENDFUNC sendBytes +#define RECVFUNC recvBytes +#define WAITFUNC waitRecv + +/** + * Constructor. + * + * @param tx A pin for transmit. + * @param rx A pin for receive. + * @param baud Baud rate. (Default is Baud19200.) + */ +CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) { + serial.baud((int)baud); +} + +/** + * Destructor. + */ +CameraC328::~CameraC328() { +} + +/** + * Make a sync. for baud rate. + */ +CameraC328::ErrorNumber CameraC328::sync() { + WAITIDLE(); + + for (int i = 0; i < SYNCMAX; i++) { + 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_ms(50); + } + return UnexpectedReply; +} + +/** + * Initialize. + * + * @param ct Color type. + * @param rr Raw resolution. + * @param jr JPEG resolution. + */ +CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) { + WAITIDLE(); + ErrorNumber en; + + en = sendInitial(ct, rr, jr); + if (NoError != en) { + return en; + } + WAITFUNC(); + en = recvAckOrNck(); + if (NoError != en) { + return en; + } + + static bool alreadySetupPackageSize = false; + if (!alreadySetupPackageSize) { + en = sendSetPackageSize(packageSize); + if (NoError != en) { + return en; + } + WAITFUNC(); + en = recvAckOrNck(); + if (NoError != en) { + return en; + } + alreadySetupPackageSize = true; + } + + return (ErrorNumber)NoError; +} + +/** + * Get uncompressed snapshot picture. + * + * @param func A pointer to a callback function. + * Please do NOT block this callback function. + * Because the camera module transmit image datas continuously. + * @return Status of the error. + */ +CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) { + WAITIDLE(); + 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++; + + /* + * Call a call back function. + * Please do not block this function. + */ + func(imgcnt, length, c); + } + + /* + * ACK + */ + en = sendAck(0x0A, 0x00); + if (NoError != en) { + return en; + } + + return (ErrorNumber)NoError; +} + +/** + * Get uncompressed preview picture. + * + * @param func A pointer to a callback function. + * Please do NOT block this callback function. + * Because the camera module transmit image datas continuously. + * @return Status of the error. + */ +CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) { + WAITIDLE(); + 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++; + + /* + * Call a call back function. + * Please do not block this function. + */ + func(imgcnt, length, c); + } + + /* + * ACK + */ + en = sendAck(0x0A, 0x00); + if (NoError != en) { + return en; + } + + return (ErrorNumber)NoError; +} + +/** + * Get JPEG snapshot picture. + * + * @param func A pointer to a callback function. + * You can block this function until saving the image datas. + * @return Status of the error. + */ +CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) { + WAITIDLE(); + ErrorNumber en; + + en = sendSnapshot(CompressedPicture, 1); + 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; + } + + /* + * Data : snapshot picture + */ + DataType dt; + uint32_t length = 0; + WAITFUNC(); + en = recvData(&dt, &length); + if (NoError != en) { + return en; + } + en = sendAck(0x00, 0); + if (NoError != en) { + return en; + } + + char databuf[packageSize - 6]; + uint16_t pkg_total = length / (packageSize - 6); + for (int i = 0; i <= (int)pkg_total; i++) { + uint16_t checksum = 0; + // ID. + char idbuf[2]; + WAITFUNC(); + if (!RECVFUNC(idbuf, sizeof(idbuf))) { + return (ErrorNumber)UnexpectedReply; + } + checksum += idbuf[0]; + checksum += idbuf[1]; + uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); + if (id != i) { + return (ErrorNumber)UnexpectedReply; + } + + // Size of the data. + char dsbuf[2]; + WAITFUNC(); + if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { + return (ErrorNumber)UnexpectedReply; + } + + // Received the data. + checksum += dsbuf[0]; + checksum += dsbuf[1]; + uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); + WAITFUNC(); + if (!RECVFUNC(&databuf[0], ds)) { + return (ErrorNumber)UnexpectedReply; + } + for (int j = 0; j < ds; j++) { + checksum += databuf[j]; + } + + // Verify code. + char vcbuf[2]; + WAITFUNC(); + if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { + return (ErrorNumber)UnexpectedReply; + } + uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); + if (vc != (checksum & 0xff)) { + return (ErrorNumber)UnexpectedReply; + } + + /* + * Call a call back function. + * You can block this function while working. + */ + func(databuf, ds); + + /* + * We should wait for camera working before reply a ACK. + */ + wait_ms(100); + en = sendAck(0x00, 1 + i); + if (NoError != en) { + return en; + } + } + + return (ErrorNumber)NoError; +} + +/** + * Get JPEG preview picture. + * + * @param func A pointer to a callback function. + * You can block this function until saving the image datas. + * @return Status of the error. + */ +CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) { + WAITIDLE(); + ErrorNumber en; + + en = sendGetPicture(JpegPreviewPicture); + if (NoError != en) { + return en; + } + WAITFUNC(); + en = recvAckOrNck(); + if (NoError != en) { + return en; + } + + /* + * Data : JPEG preview picture + */ + DataType dt; + uint32_t length = 0; + WAITFUNC(); + en = recvData(&dt, &length); + if (NoError != en) { + return en; + } + en = sendAck(0x00, 0); + if (NoError != en) { + return en; + } + + char databuf[packageSize - 6]; + uint16_t pkg_total = length / (packageSize - 6); + for (int i = 0; i <= (int)pkg_total; i++) { + uint16_t checksum = 0; + // ID. + char idbuf[2]; + WAITFUNC(); + if (!RECVFUNC(idbuf, sizeof(idbuf))) { + return (ErrorNumber)UnexpectedReply; + } + checksum += idbuf[0]; + checksum += idbuf[1]; + uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0); + if (id != i) { + return (ErrorNumber)UnexpectedReply; + } + + // Size of the data. + char dsbuf[2]; + WAITFUNC(); + if (!RECVFUNC(dsbuf, sizeof(dsbuf))) { + return (ErrorNumber)UnexpectedReply; + } + + // Received the data. + checksum += dsbuf[0]; + checksum += dsbuf[1]; + uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0); + WAITFUNC(); + if (!RECVFUNC(&databuf[0], ds)) { + return (ErrorNumber)UnexpectedReply; + } + for (int j = 0; j < ds; j++) { + checksum += databuf[j]; + } + + // Verify code. + char vcbuf[2]; + WAITFUNC(); + if (!RECVFUNC(vcbuf, sizeof(vcbuf))) { + return (ErrorNumber)UnexpectedReply; + } + uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0); + if (vc != (checksum & 0xff)) { + return (ErrorNumber)UnexpectedReply; + } + + /* + * Call a call back function. + * You can block this function while working. + */ + func(databuf, ds); + + /* + * We should wait for camera working before reply a ACK. + */ + wait_ms(100); + en = sendAck(0x00, 1 + i); + if (NoError != en) { + return en; + } + } + + return (ErrorNumber)NoError; +} + +CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) { + char send[COMMAND_LENGTH]; + + send[0] = 0xAA; + send[1] = 0x01; + send[2] = 0x00; + send[3] = (char)ct; + send[4] = (char)rr; + send[5] = (char)jr; + + if (!SENDFUNC(send, sizeof(send))) { + return (ErrorNumber)SendRegisterTimeout; + } + return (ErrorNumber)NoError; +} + +CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) { + char send[COMMAND_LENGTH]; + + send[0] = 0xAA; + send[1] = 0x04; + send[2] = (char)pt; + send[3] = 0x00; + send[4] = 0x00; + send[5] = 0x00; + + if (!SENDFUNC(send, sizeof(send))) { + return (ErrorNumber)SendRegisterTimeout; + } + 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; + } + 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; + /* + * 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] = 0x09; + 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::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)UnexpectedReply; + } + *dt = (DataType)recv[2]; + *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0); + return (ErrorNumber)NoError; +} + +CameraC328::ErrorNumber CameraC328::sendSync() { + char send[COMMAND_LENGTH]; + send[0] = 0xAA; + 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. + * @param len Length of the data buffer. + * + * @return True if the data sended. + */ +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_us(1); + cnt++; + if (timeout_us < cnt) { + return false; + } + } + serial.putc(buf[i]); + } + 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, int timeout_us) { + for (uint32_t i = 0; i < (uint32_t)len; i++) { + int cnt = 0; + while (!serial.readable()) { + wait_us(1); + cnt++; + if (timeout_us < cnt) { + return false; + } + } + buf[i] = serial.getc(); + } + return true; +} + +/** + * Wait received. + * + * @return True if the data received. + */ +bool CameraC328::waitRecv() { + while (!serial.readable()) { + } + return true; +} + +/** + * Wait idle state. + */ +bool CameraC328::waitIdle() { + while (serial.readable()) { + serial.getc(); + } + return true; +}