Revision 15:49cfda6c547f, committed 2010-10-13

Comitter:

shintamainjp

Date:

Wed Oct 13 10:45:29 2010 +0000

Parent:

14:640f564075af

Commit message:

Changed in this revision

diff -r 640f564075af -r 49cfda6c547f CameraC328.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CameraC328.cpp	Wed Oct 13 10:45:29 2010 +0000
@@ -0,0 +1,720 @@
+/**
+ * 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;
+}

diff -r 640f564075af -r 49cfda6c547f CameraC328.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CameraC328.h	Wed Oct 13 10:45:29 2010 +0000
@@ -0,0 +1,217 @@
+/**
+ * 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 "mbed.h"
+#include "SerialBuffered.h"
+
+#ifndef _CAMERA_C328_H_
+#define _CAMERA_C328_H_
+
+/*
+ * Class: CameraC328
+ */
+class CameraC328 {
+public:
+
+    /**
+     * Color type.
+     */
+    enum ColorType {
+        GrayScale2bit = 0x01,   // 2bit for Y only
+        GrayScale4bit = 0x02,   // 4bit for Y only
+        GrayScale8bit = 0x03,   // 8bit for Y only
+        Color12bit = 0x05,      // 444 (RGB)
+        Color16bit = 0x06,      // 565 (RGB)
+        Jpeg = 0x07
+    };
+
+    /**
+     * Raw resolution.
+     */
+    enum RawResolution {
+        RawResolution80x60 = 0x01,
+        RawResolution160x120 = 0x03
+    };
+
+    /**
+     * JPEG resolution.
+     */
+    enum JpegResolution {
+        JpegResolution80x64 = 0x01,
+        JpegResolution160x128 = 0x03,
+        JpegResolution320x240 = 0x05,
+        JpegResolution640x480 = 0x07
+    };
+
+    /**
+     * Error number.
+     */
+    enum ErrorNumber {
+        NoError = 0x00,
+        PictureTypeError = 0x01,
+        PictureUpScale = 0x02,
+        PictureScaleError = 0x03,
+        UnexpectedReply = 0x04,
+        SendPictureTimeout = 0x05,
+        UnexpectedCommand = 0x06,
+        SramJpegTypeError = 0x07,
+        SramJpegSizeError = 0x08,
+        PictureFormatError = 0x09,
+        PictureSizeError = 0x0a,
+        ParameterError = 0x0b,
+        SendRegisterTimeout = 0x0c,
+        CommandIdError = 0x0d,
+        PictureNotReady = 0x0f,
+        TransferPackageNumberError = 0x10,
+        SetTransferPackageSizeWrong = 0x11,
+        CommandHeaderError = 0xf0,
+        CommandLengthError = 0xf1,
+        SendPictureError = 0xf5,
+        SendCommandError = 0xff
+    };
+
+    /**
+     * Picture type.
+     */
+    enum PictureType {
+        SnapshotPicture = 0x01,
+        PreviewPicture = 0x02,
+        JpegPreviewPicture = 0x05
+    };
+
+    /**
+     * Snapshot type.
+     */
+    enum SnapshotType {
+        CompressedPicture = 0x00,
+        UncompressedPicture = 0x01
+    };
+
+    /**
+     * Baud rate.
+     */
+    enum Baud {
+        Baud7200 = 7200,
+        Baud9600 = 9600,
+        Baud14400 = 14400,
+        Baud19200 = 19200,  // Default.
+        Baud28800 = 28800,
+        Baud38400 = 38400,
+        Baud57600 = 57600,
+        Baud115200 = 115200
+    };
+
+    /**
+     * Reset type.
+     */
+    enum ResetType {
+        ResetWholeSystem = 0x00,
+        ResetStateMachines = 0x01
+    };
+
+    /**
+     * Data type.
+     */
+    enum DataType {
+        DataTypeSnapshotPicture = 0x01,
+        DataTypePreviewPicture = 0x02,
+        DataTypeJpegPreviewPicture = 0x05
+    };
+
+    /**
+     * Constructor.
+     *
+     * @param tx A pin for transmit.
+     * @param rx A pin for receive.
+     * @param baud Baud rate. (Default is Baud19200.)
+     */
+    CameraC328(PinName tx, PinName rx, Baud baud = Baud19200);
+
+    /**
+     * Destructor.
+     */
+    ~CameraC328();
+
+    /**
+     * Make a sync. for baud rate.
+     */
+    ErrorNumber sync();
+
+    /**
+     * Initialize.
+     *
+     * @param ct Color type.
+     * @param rr Raw resolution.
+     * @param jr JPEG resolution.
+     */
+    ErrorNumber init(ColorType ct, RawResolution rr, JpegResolution jr);
+
+    /**
+     * 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.
+     */
+    ErrorNumber getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c));
+
+    /**
+     * 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.
+     */
+    ErrorNumber getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c));
+
+    /**
+     * 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.
+     */
+    ErrorNumber getJpegSnapshotPicture(void(*func)(char *buf, size_t siz));
+
+    /**
+     * 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.
+     */
+    ErrorNumber getJpegPreviewPicture(void(*func)(char *buf, size_t siz));
+
+private:
+    SerialBuffered serial;
+    static const int COMMAND_LENGTH = 6;
+    static const int SYNCMAX = 60;
+    static const int packageSize = 512;
+
+    ErrorNumber sendInitial(ColorType ct, RawResolution rr, JpegResolution jr);
+    ErrorNumber sendGetPicture(PictureType pt);
+    ErrorNumber sendSnapshot(SnapshotType st, uint16_t skipFrames);
+    ErrorNumber sendSetPackageSize(uint16_t packageSize);
+    ErrorNumber sendSetBaudrate(Baud baud);
+    ErrorNumber sendReset(ResetType rt, bool specialReset);
+    ErrorNumber sendPowerOff();
+    ErrorNumber recvData(DataType *dt, uint32_t *length);
+    ErrorNumber sendSync();
+    ErrorNumber recvSync();
+    ErrorNumber sendAck(uint8_t commandId, uint16_t packageId);
+    ErrorNumber recvAckOrNck();
+
+    bool sendBytes(char *buf, size_t len, int timeout_us = 20000);
+    bool recvBytes(char *buf, size_t len, int timeout_us = 20000);
+    bool waitRecv();
+    bool waitIdle();
+};
+
+#endif

diff -r 640f564075af -r 49cfda6c547f SerialBuffered.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialBuffered.cpp	Wed Oct 13 10:45:29 2010 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+#include "SerialBuffered.h"
+
+/**
+ * Create a buffered serial class.
+ *
+ * @param tx A pin for transmit.
+ * @param rx A pin for receive.
+ */
+SerialBuffered::SerialBuffered(PinName tx, PinName rx) : Serial(tx, rx) {
+    indexContentStart = 0;
+    indexContentEnd = 0;
+    timeout = 1;
+    attach(this, &SerialBuffered::handleInterrupt);
+}
+
+/**
+ * Destroy.
+ */
+SerialBuffered::~SerialBuffered() {
+}
+
+/**
+ * Set timeout for getc().
+ *
+ * @param ms milliseconds. (-1:Disable timeout)
+ */
+void SerialBuffered::setTimeout(int ms) {
+    timeout = ms;
+}
+
+/**
+ * Read requested bytes.
+ *
+ * @param bytes A pointer to a buffer.
+ * @param requested Length.
+ *
+ * @return Readed byte length.
+ */
+size_t SerialBuffered::readBytes(uint8_t *bytes, size_t requested) {
+    int i = 0;
+    while (i < requested) {
+        int c = getc();
+        if (c < 0) {
+            break;
+        }
+        bytes[i] = c;
+        i++;
+    }
+    return i;
+}
+
+/**
+ * Get a character.
+ *
+ * @return A character. (-1:timeout)
+ */
+int SerialBuffered::getc() {
+    timer.reset();
+    timer.start();
+    while (indexContentStart == indexContentEnd) {
+        wait_ms(1);
+        if ((timeout > 0) && (timer.read_ms() > timeout)) {
+            /*
+             * Timeout occured.
+             */
+            // printf("Timeout occured.\n");
+            return EOF;
+        }
+    }
+    timer.stop();
+
+    uint8_t result = buffer[indexContentStart++];
+    indexContentStart =  indexContentStart % BUFFERSIZE;
+
+    return result;
+}
+
+/**
+ * Returns 1 if there is a character available to read, 0 otherwise.
+ */
+int SerialBuffered::readable() {
+    return indexContentStart != indexContentEnd;
+}
+
+void SerialBuffered::handleInterrupt() {
+    while (Serial::readable()) {
+        if (indexContentStart == ((indexContentEnd + 1) % BUFFERSIZE)) {
+            /*
+             * Buffer overrun occured.
+             */
+            // printf("Buffer overrun occured.\n");
+            Serial::getc();
+        } else {
+            buffer[indexContentEnd++] = Serial::getc();
+            indexContentEnd = indexContentEnd % BUFFERSIZE;
+        }
+    }
+}

diff -r 640f564075af -r 49cfda6c547f SerialBuffered.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialBuffered.h	Wed Oct 13 10:45:29 2010 +0000
@@ -0,0 +1,61 @@
+#ifndef _SERIAL_BUFFERED_H_
+#define _SERIAL_BUFFERED_H_
+
+/**
+ * Buffered serial class.
+ */
+class SerialBuffered : public Serial {
+public:
+    /**
+     * Create a buffered serial class.
+     *
+     * @param tx A pin for transmit.
+     * @param rx A pin for receive.
+     */
+    SerialBuffered(PinName tx, PinName rx);
+
+    /**
+     * Destroy.
+     */
+    virtual ~SerialBuffered();
+
+    /**
+     * Get a character.
+     *
+     * @return A character. (-1:timeout)
+     */
+    int getc();
+
+    /**
+     * Returns 1 if there is a character available to read, 0 otherwise.
+     */
+    int readable();
+
+    /**
+     * Set timeout for getc().
+     *
+     * @param ms milliseconds. (-1:Disable timeout)
+     */
+    void setTimeout(int ms);
+
+    /**
+     * Read requested bytes.
+     *
+     * @param bytes A pointer to a buffer.
+     * @param requested Length.
+     *
+     * @return Readed byte length.
+     */
+    size_t readBytes(uint8_t *bytes, size_t requested);
+
+private:
+    void handleInterrupt();
+    static const int BUFFERSIZE = 4096;
+    uint8_t buffer[BUFFERSIZE];            // points at a circular buffer, containing data from m_contentStart, for m_contentSize bytes, wrapping when you get to the end
+    uint16_t indexContentStart;   // index of first bytes of content
+    uint16_t indexContentEnd;     // index of bytes after last byte of content
+    int timeout;
+    Timer timer;
+};
+
+#endif

diff -r 640f564075af -r 49cfda6c547f extlib/FATFileSystem.lib
--- a/extlib/FATFileSystem.lib	Wed Oct 13 10:42:48 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_unsupported/code/fatfilesystem/
\ No newline at end of file

diff -r 640f564075af -r 49cfda6c547f extlib/SDFileSystem.lib
--- a/extlib/SDFileSystem.lib	Wed Oct 13 10:42:48 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/simon/code/SDFileSystem/#b1ddfc9a9b25

diff -r 640f564075af -r 49cfda6c547f main.cpp
--- a/main.cpp	Wed Oct 13 10:42:48 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,245 +0,0 @@
-/**
- * Test program.
- *
- * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
- * http://shinta.main.jp/
- */
-
-/*
- * Include files.
- */
-
-#include "mbed.h"
-#include "CameraC328.h"
-#include "SDFileSystem.h"
-
-/*
- * Definitions.
- */
-#define USE_JPEG_HIGH_RESOLUTION  1
-#define USE_SD_CARD 0
-
-/*
- * Variables.
- */
-static const int CAPTURE_FRAMES = 5;
-static const int RAWIMG_X = 80;
-static const int RAWIMG_Y = 60;
-static char buf[RAWIMG_X * RAWIMG_Y * 2];
-static FILE *fp_jpeg;
-
-/*
- * Modules.
- */
-#if USE_SD_CARD
-SDFileSystem sd(p5, p6, p7, p8, "fs");
-#else
-LocalFileSystem fs("fs");
-#endif
-CameraC328 camera(p9, p10, CameraC328::Baud19200);
-
-/**
- * A callback function for uncompressed images.
- * Please do NOT block this callback function.
- * Because the camera module transmit image datas continuously.
- *
- * @param done a done number of packets.
- * @param total a total number of packets.
- * @param c received data.
- */
-void uncompressed_callback(size_t done, size_t total, char c) {
-    buf[done - 1] = c;
-}
-
-/**
- * A callback function for jpeg images.
- * You can block this function until saving the image datas.
- *
- * @param buf A pointer to the image buffer.
- * @param siz A size of the image buffer.
- */
-void jpeg_callback(char *buf, size_t siz) {
-    for (int i = 0; i < (int)siz; i++) {
-        fprintf(fp_jpeg, "%c", buf[i]);
-    }
-}
-
-/**
- * Synchronizing.
- */
-void sync(void) {
-    CameraC328::ErrorNumber err = CameraC328::NoError;
-
-    err = camera.sync();
-    if (CameraC328::NoError == err) {
-        printf("[ OK ] : CameraC328::sync\n");
-    } else {
-        printf("[FAIL] : CameraC328::sync (Error=%02X)\n", (int)err);
-    }
-}
-
-/**
- * A test function for uncompressed snapshot picture.
- */
-void test_uncompressed_snapshot_picture(void) {
-    CameraC328::ErrorNumber err = CameraC328::NoError;
-
-    err = camera.init(CameraC328::Color16bit, CameraC328::RawResolution80x60, CameraC328::JpegResolution160x128);
-    if (CameraC328::NoError == err) {
-        printf("[ OK ] : CameraC328::init\n");
-    } else {
-        printf("[FAIL] : CameraC328::init (Error=%02X)\n", (int)err);
-    }
-
-    for (int i = 0; i < CAPTURE_FRAMES; i++) {
-        err = camera.getUncompressedSnapshotPicture(uncompressed_callback);
-        if (CameraC328::NoError == err) {
-            printf("[ OK ] : CameraC328::getUncompressedSnapshotPicture\n");
-        } else {
-            printf("[FAIL] : CameraC328::getUncompressedSnapshotPicture (Error=%02X)\n", (int)err);
-        }
-
-        char fname[64];
-        snprintf(fname, sizeof(fname), "/fs/ucss%04d.ppm", i);
-        FILE *fp = fopen(fname, "w");
-        fprintf(fp, "P3\n");
-        fprintf(fp, "%d %d\n", RAWIMG_X, RAWIMG_Y);
-        fprintf(fp, "%d\n", 255);
-        for (int y = 0; y < RAWIMG_Y; y++) {
-            for (int x = 0; x < RAWIMG_X; x++) {
-                int adrofs = y * (RAWIMG_X * 2) + (x * 2);
-                uint16_t dat = (buf[adrofs + 0] << 8) | (buf[adrofs + 1] << 0);
-                uint8_t r = ((dat >> 11) & 0x1f) << 3;
-                uint8_t g = ((dat >> 5) & 0x3f) << 2;
-                uint8_t b = ((dat >> 0) & 0x1f) << 3;
-                fprintf(fp,"%d %d %d\n", r, g, b);
-            }
-        }
-        fclose(fp);
-    }
-}
-
-/**
- * A test function for uncompressed preview picture.
- */
-void test_uncompressed_preview_picture(void) {
-    CameraC328::ErrorNumber err = CameraC328::NoError;
-
-    err = camera.init(CameraC328::Color16bit, CameraC328::RawResolution80x60, CameraC328::JpegResolution160x128);
-    if (CameraC328::NoError == err) {
-        printf("[ OK ] : CameraC328::init\n");
-    } else {
-        printf("[FAIL] : CameraC328::init (Error=%02X)\n", (int)err);
-    }
-
-    for (int i = 0; i < CAPTURE_FRAMES; i++) {
-        err = camera.getUncompressedPreviewPicture(uncompressed_callback);
-        if (CameraC328::NoError == err) {
-            printf("[ OK ] : CameraC328::getUncompressedPreviewPicture\n");
-        } else {
-            printf("[FAIL] : CameraC328::getUncompressedPreviewPicture (Error=%02X)\n", (int)err);
-        }
-
-        char fname[64];
-        snprintf(fname, sizeof(fname), "/fs/ucpv%04d.ppm", i);
-        FILE *fp = fopen(fname, "w");
-        fprintf(fp, "P3\n");
-        fprintf(fp, "%d %d\n", RAWIMG_X, RAWIMG_Y);
-        fprintf(fp, "%d\n", 255);
-        for (int y = 0; y < RAWIMG_Y; y++) {
-            for (int x = 0; x < RAWIMG_X; x++) {
-                int adrofs = y * (RAWIMG_X * 2) + (x * 2);
-                uint16_t dat = (buf[adrofs + 0] << 8) | (buf[adrofs + 1] << 0);
-                uint8_t r = ((dat >> 11) & 0x1f) << 3;
-                uint8_t g = ((dat >> 5) & 0x3f) << 2;
-                uint8_t b = ((dat >> 0) & 0x1f) << 3;
-                fprintf(fp,"%d %d %d\n", r, g, b);
-            }
-        }
-        fclose(fp);
-    }
-}
-
-/**
- * A test function for jpeg snapshot picture.
- */
-void test_jpeg_snapshot_picture(void) {
-    CameraC328::ErrorNumber err = CameraC328::NoError;
-
-#if USE_JPEG_HIGH_RESOLUTION
-    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution640x480);
-#else
-    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution320x240);
-#endif
-    if (CameraC328::NoError == err) {
-        printf("[ OK ] : CameraC328::init\n");
-    } else {
-        printf("[FAIL] : CameraC328::init (Error=%02X)\n", (int)err);
-    }
-
-    for (int i = 0; i < CAPTURE_FRAMES; i++) {
-        char fname[64];
-        snprintf(fname, sizeof(fname), "/fs/jpss%04d.jpg", i);
-        fp_jpeg = fopen(fname, "w");
-
-        err = camera.getJpegSnapshotPicture(jpeg_callback);
-        if (CameraC328::NoError == err) {
-            printf("[ OK ] : CameraC328::getJpegSnapshotPicture\n");
-        } else {
-            printf("[FAIL] : CameraC328::getJpegSnapshotPicture (Error=%02X)\n", (int)err);
-        }
-
-        fclose(fp_jpeg);
-    }
-}
-
-/**
- * A test function for jpeg preview picture.
- */
-void test_jpeg_preview_picture(void) {
-    CameraC328::ErrorNumber err = CameraC328::NoError;
-
-#if USE_JPEG_HIGH_RESOLUTION
-    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution640x480);
-#else
-    err = camera.init(CameraC328::Jpeg, CameraC328::RawResolution80x60, CameraC328::JpegResolution320x240);
-#endif
-    if (CameraC328::NoError == err) {
-        printf("[ OK ] : CameraC328::init\n");
-    } else {
-        printf("[FAIL] : CameraC328::init (Error=%02X)\n", (int)err);
-    }
-
-    for (int i = 0; i < CAPTURE_FRAMES; i++) {
-        char fname[64];
-        snprintf(fname, sizeof(fname), "/fs/jppv%04d.jpg", i);
-        fp_jpeg = fopen(fname, "w");
-
-        err = camera.getJpegPreviewPicture(jpeg_callback);
-        if (CameraC328::NoError == err) {
-            printf("[ OK ] : CameraC328::getJpegPreviewPicture\n");
-        } else {
-            printf("[FAIL] : CameraC328::getJpegPreviewPicture (Error=%02X)\n", (int)err);
-        }
-
-        fclose(fp_jpeg);
-    }
-}
-
-/**
- * A entry point.
- */
-int main() {
-    printf("\n");
-    printf("==========\n");
-    printf("CameraC328\n");
-    printf("==========\n");
-
-    sync();
-    test_uncompressed_snapshot_picture();
-    test_uncompressed_preview_picture();
-    test_jpeg_preview_picture();
-    test_jpeg_snapshot_picture();
-
-    return 0;
-}

diff -r 640f564075af -r 49cfda6c547f mbed.bld
--- a/mbed.bld	Wed Oct 13 10:42:48 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e