| User | Revision | Line number | New contents of line |
|---|
| shintamainjp |
15:49cfda6c547f
|
1
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
2
|
* C328-7640 device driver class (Version 0.0.6)
|
| shintamainjp |
15:49cfda6c547f
|
3
|
* Reference documents: C328-7640 User Manual v3.0 2004.8.19
|
| shintamainjp |
15:49cfda6c547f
|
4
|
*
|
| shintamainjp |
15:49cfda6c547f
|
5
|
* Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
|
| shintamainjp |
15:49cfda6c547f
|
6
|
* http://shinta.main.jp/
|
| shintamainjp |
15:49cfda6c547f
|
7
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
8
|
|
| shintamainjp |
15:49cfda6c547f
|
9
|
#include "CameraC328.h"
|
| shintamainjp |
15:49cfda6c547f
|
10
|
|
| shintamainjp |
15:49cfda6c547f
|
11
|
#define WAITIDLE waitIdle
|
| shintamainjp |
15:49cfda6c547f
|
12
|
#define SENDFUNC sendBytes
|
| shintamainjp |
15:49cfda6c547f
|
13
|
#define RECVFUNC recvBytes
|
| shintamainjp |
15:49cfda6c547f
|
14
|
#define WAITFUNC waitRecv
|
| shintamainjp |
15:49cfda6c547f
|
15
|
|
| shintamainjp |
15:49cfda6c547f
|
16
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
17
|
* Constructor.
|
| shintamainjp |
15:49cfda6c547f
|
18
|
*
|
| shintamainjp |
15:49cfda6c547f
|
19
|
* @param tx A pin for transmit.
|
| shintamainjp |
15:49cfda6c547f
|
20
|
* @param rx A pin for receive.
|
| shintamainjp |
15:49cfda6c547f
|
21
|
* @param baud Baud rate. (Default is Baud19200.)
|
| shintamainjp |
15:49cfda6c547f
|
22
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
23
|
CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
|
| shintamainjp |
15:49cfda6c547f
|
24
|
serial.baud((int)baud);
|
| shintamainjp |
15:49cfda6c547f
|
25
|
}
|
| shintamainjp |
15:49cfda6c547f
|
26
|
|
| shintamainjp |
15:49cfda6c547f
|
27
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
28
|
* Destructor.
|
| shintamainjp |
15:49cfda6c547f
|
29
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
30
|
CameraC328::~CameraC328() {
|
| shintamainjp |
15:49cfda6c547f
|
31
|
}
|
| shintamainjp |
15:49cfda6c547f
|
32
|
|
| shintamainjp |
15:49cfda6c547f
|
33
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
34
|
* Make a sync. for baud rate.
|
| shintamainjp |
15:49cfda6c547f
|
35
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
36
|
CameraC328::ErrorNumber CameraC328::sync() {
|
| shintamainjp |
15:49cfda6c547f
|
37
|
WAITIDLE();
|
| shintamainjp |
15:49cfda6c547f
|
38
|
|
| shintamainjp |
15:49cfda6c547f
|
39
|
for (int i = 0; i < SYNCMAX; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
40
|
if (NoError == sendSync()) {
|
| shintamainjp |
15:49cfda6c547f
|
41
|
if (NoError == recvAckOrNck()) {
|
| shintamainjp |
15:49cfda6c547f
|
42
|
if (NoError == recvSync()) {
|
| shintamainjp |
15:49cfda6c547f
|
43
|
if (NoError == sendAck(0x0D, 0x00)) {
|
| shintamainjp |
15:49cfda6c547f
|
44
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
45
|
* After synchronization, the camera needs a little time for AEC and AGC to be stable.
|
| shintamainjp |
15:49cfda6c547f
|
46
|
* Users should wait for 1-2 seconds before capturing the first picture.
|
| shintamainjp |
15:49cfda6c547f
|
47
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
48
|
wait(2);
|
| shintamainjp |
15:49cfda6c547f
|
49
|
return NoError;
|
| shintamainjp |
15:49cfda6c547f
|
50
|
}
|
| shintamainjp |
15:49cfda6c547f
|
51
|
}
|
| shintamainjp |
15:49cfda6c547f
|
52
|
}
|
| shintamainjp |
15:49cfda6c547f
|
53
|
}
|
| shintamainjp |
15:49cfda6c547f
|
54
|
wait_ms(50);
|
| shintamainjp |
15:49cfda6c547f
|
55
|
}
|
| shintamainjp |
15:49cfda6c547f
|
56
|
return UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
57
|
}
|
| shintamainjp |
15:49cfda6c547f
|
58
|
|
| shintamainjp |
15:49cfda6c547f
|
59
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
60
|
* Initialize.
|
| shintamainjp |
15:49cfda6c547f
|
61
|
*
|
| shintamainjp |
15:49cfda6c547f
|
62
|
* @param ct Color type.
|
| shintamainjp |
15:49cfda6c547f
|
63
|
* @param rr Raw resolution.
|
| shintamainjp |
15:49cfda6c547f
|
64
|
* @param jr JPEG resolution.
|
| shintamainjp |
15:49cfda6c547f
|
65
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
66
|
CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
|
| shintamainjp |
15:49cfda6c547f
|
67
|
WAITIDLE();
|
| shintamainjp |
15:49cfda6c547f
|
68
|
ErrorNumber en;
|
| shintamainjp |
15:49cfda6c547f
|
69
|
|
| shintamainjp |
15:49cfda6c547f
|
70
|
en = sendInitial(ct, rr, jr);
|
| shintamainjp |
15:49cfda6c547f
|
71
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
72
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
73
|
}
|
| shintamainjp |
15:49cfda6c547f
|
74
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
75
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
76
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
77
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
78
|
}
|
| shintamainjp |
15:49cfda6c547f
|
79
|
|
| shintamainjp |
15:49cfda6c547f
|
80
|
static bool alreadySetupPackageSize = false;
|
| shintamainjp |
15:49cfda6c547f
|
81
|
if (!alreadySetupPackageSize) {
|
| shintamainjp |
15:49cfda6c547f
|
82
|
en = sendSetPackageSize(packageSize);
|
| shintamainjp |
15:49cfda6c547f
|
83
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
84
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
85
|
}
|
| shintamainjp |
15:49cfda6c547f
|
86
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
87
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
88
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
89
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
90
|
}
|
| shintamainjp |
15:49cfda6c547f
|
91
|
alreadySetupPackageSize = true;
|
| shintamainjp |
15:49cfda6c547f
|
92
|
}
|
| shintamainjp |
15:49cfda6c547f
|
93
|
|
| shintamainjp |
15:49cfda6c547f
|
94
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
95
|
}
|
| shintamainjp |
15:49cfda6c547f
|
96
|
|
| shintamainjp |
15:49cfda6c547f
|
97
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
98
|
* Get uncompressed snapshot picture.
|
| shintamainjp |
15:49cfda6c547f
|
99
|
*
|
| shintamainjp |
15:49cfda6c547f
|
100
|
* @param func A pointer to a callback function.
|
| shintamainjp |
15:49cfda6c547f
|
101
|
* Please do NOT block this callback function.
|
| shintamainjp |
15:49cfda6c547f
|
102
|
* Because the camera module transmit image datas continuously.
|
| shintamainjp |
15:49cfda6c547f
|
103
|
* @return Status of the error.
|
| shintamainjp |
15:49cfda6c547f
|
104
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
105
|
CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
|
| shintamainjp |
15:49cfda6c547f
|
106
|
WAITIDLE();
|
| shintamainjp |
15:49cfda6c547f
|
107
|
ErrorNumber en;
|
| shintamainjp |
15:49cfda6c547f
|
108
|
|
| shintamainjp |
15:49cfda6c547f
|
109
|
en = sendSnapshot(UncompressedPicture, 0);
|
| shintamainjp |
15:49cfda6c547f
|
110
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
111
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
112
|
}
|
| shintamainjp |
15:49cfda6c547f
|
113
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
114
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
115
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
116
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
117
|
}
|
| shintamainjp |
15:49cfda6c547f
|
118
|
|
| shintamainjp |
15:49cfda6c547f
|
119
|
en = sendGetPicture(SnapshotPicture);
|
| shintamainjp |
15:49cfda6c547f
|
120
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
121
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
122
|
}
|
| shintamainjp |
15:49cfda6c547f
|
123
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
124
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
125
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
126
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
127
|
}
|
| shintamainjp |
15:49cfda6c547f
|
128
|
|
| shintamainjp |
15:49cfda6c547f
|
129
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
130
|
* image data
|
| shintamainjp |
15:49cfda6c547f
|
131
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
132
|
DataType dt;
|
| shintamainjp |
15:49cfda6c547f
|
133
|
uint32_t length = 0;
|
| shintamainjp |
15:49cfda6c547f
|
134
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
135
|
en = recvData(&dt, &length);
|
| shintamainjp |
15:49cfda6c547f
|
136
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
137
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
138
|
}
|
| shintamainjp |
15:49cfda6c547f
|
139
|
size_t imgcnt = 0;
|
| shintamainjp |
15:49cfda6c547f
|
140
|
for (int i = 0; i < (int)length; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
141
|
char c;
|
| shintamainjp |
15:49cfda6c547f
|
142
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
143
|
if (!RECVFUNC(&c, 1)) {
|
| shintamainjp |
15:49cfda6c547f
|
144
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
145
|
}
|
| shintamainjp |
15:49cfda6c547f
|
146
|
imgcnt++;
|
| shintamainjp |
15:49cfda6c547f
|
147
|
|
| shintamainjp |
15:49cfda6c547f
|
148
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
149
|
* Call a call back function.
|
| shintamainjp |
15:49cfda6c547f
|
150
|
* Please do not block this function.
|
| shintamainjp |
15:49cfda6c547f
|
151
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
152
|
func(imgcnt, length, c);
|
| shintamainjp |
15:49cfda6c547f
|
153
|
}
|
| shintamainjp |
15:49cfda6c547f
|
154
|
|
| shintamainjp |
15:49cfda6c547f
|
155
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
156
|
* ACK
|
| shintamainjp |
15:49cfda6c547f
|
157
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
158
|
en = sendAck(0x0A, 0x00);
|
| shintamainjp |
15:49cfda6c547f
|
159
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
160
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
161
|
}
|
| shintamainjp |
15:49cfda6c547f
|
162
|
|
| shintamainjp |
15:49cfda6c547f
|
163
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
164
|
}
|
| shintamainjp |
15:49cfda6c547f
|
165
|
|
| shintamainjp |
15:49cfda6c547f
|
166
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
167
|
* Get uncompressed preview picture.
|
| shintamainjp |
15:49cfda6c547f
|
168
|
*
|
| shintamainjp |
15:49cfda6c547f
|
169
|
* @param func A pointer to a callback function.
|
| shintamainjp |
15:49cfda6c547f
|
170
|
* Please do NOT block this callback function.
|
| shintamainjp |
15:49cfda6c547f
|
171
|
* Because the camera module transmit image datas continuously.
|
| shintamainjp |
15:49cfda6c547f
|
172
|
* @return Status of the error.
|
| shintamainjp |
15:49cfda6c547f
|
173
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
174
|
CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
|
| shintamainjp |
15:49cfda6c547f
|
175
|
WAITIDLE();
|
| shintamainjp |
15:49cfda6c547f
|
176
|
ErrorNumber en;
|
| shintamainjp |
15:49cfda6c547f
|
177
|
|
| shintamainjp |
15:49cfda6c547f
|
178
|
en = sendGetPicture(PreviewPicture);
|
| shintamainjp |
15:49cfda6c547f
|
179
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
180
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
181
|
}
|
| shintamainjp |
15:49cfda6c547f
|
182
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
183
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
184
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
185
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
186
|
}
|
| shintamainjp |
15:49cfda6c547f
|
187
|
|
| shintamainjp |
15:49cfda6c547f
|
188
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
189
|
* image data
|
| shintamainjp |
15:49cfda6c547f
|
190
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
191
|
DataType dt;
|
| shintamainjp |
15:49cfda6c547f
|
192
|
uint32_t length = 0;
|
| shintamainjp |
15:49cfda6c547f
|
193
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
194
|
en = recvData(&dt, &length);
|
| shintamainjp |
15:49cfda6c547f
|
195
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
196
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
197
|
}
|
| shintamainjp |
15:49cfda6c547f
|
198
|
size_t imgcnt = 0;
|
| shintamainjp |
15:49cfda6c547f
|
199
|
for (int i = 0; i < (int)length; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
200
|
char c;
|
| shintamainjp |
15:49cfda6c547f
|
201
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
202
|
if (!RECVFUNC(&c, 1)) {
|
| shintamainjp |
15:49cfda6c547f
|
203
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
204
|
}
|
| shintamainjp |
15:49cfda6c547f
|
205
|
imgcnt++;
|
| shintamainjp |
15:49cfda6c547f
|
206
|
|
| shintamainjp |
15:49cfda6c547f
|
207
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
208
|
* Call a call back function.
|
| shintamainjp |
15:49cfda6c547f
|
209
|
* Please do not block this function.
|
| shintamainjp |
15:49cfda6c547f
|
210
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
211
|
func(imgcnt, length, c);
|
| shintamainjp |
15:49cfda6c547f
|
212
|
}
|
| shintamainjp |
15:49cfda6c547f
|
213
|
|
| shintamainjp |
15:49cfda6c547f
|
214
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
215
|
* ACK
|
| shintamainjp |
15:49cfda6c547f
|
216
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
217
|
en = sendAck(0x0A, 0x00);
|
| shintamainjp |
15:49cfda6c547f
|
218
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
219
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
220
|
}
|
| shintamainjp |
15:49cfda6c547f
|
221
|
|
| shintamainjp |
15:49cfda6c547f
|
222
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
223
|
}
|
| shintamainjp |
15:49cfda6c547f
|
224
|
|
| shintamainjp |
15:49cfda6c547f
|
225
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
226
|
* Get JPEG snapshot picture.
|
| shintamainjp |
15:49cfda6c547f
|
227
|
*
|
| shintamainjp |
15:49cfda6c547f
|
228
|
* @param func A pointer to a callback function.
|
| shintamainjp |
15:49cfda6c547f
|
229
|
* You can block this function until saving the image datas.
|
| shintamainjp |
15:49cfda6c547f
|
230
|
* @return Status of the error.
|
| shintamainjp |
15:49cfda6c547f
|
231
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
232
|
CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
|
| shintamainjp |
15:49cfda6c547f
|
233
|
WAITIDLE();
|
| shintamainjp |
15:49cfda6c547f
|
234
|
ErrorNumber en;
|
| shintamainjp |
15:49cfda6c547f
|
235
|
|
| shintamainjp |
15:49cfda6c547f
|
236
|
en = sendSnapshot(CompressedPicture, 1);
|
| shintamainjp |
15:49cfda6c547f
|
237
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
238
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
239
|
}
|
| shintamainjp |
15:49cfda6c547f
|
240
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
241
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
242
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
243
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
244
|
}
|
| shintamainjp |
15:49cfda6c547f
|
245
|
|
| shintamainjp |
15:49cfda6c547f
|
246
|
en = sendGetPicture(SnapshotPicture);
|
| shintamainjp |
15:49cfda6c547f
|
247
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
248
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
249
|
}
|
| shintamainjp |
15:49cfda6c547f
|
250
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
251
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
252
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
253
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
254
|
}
|
| shintamainjp |
15:49cfda6c547f
|
255
|
|
| shintamainjp |
15:49cfda6c547f
|
256
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
257
|
* Data : snapshot picture
|
| shintamainjp |
15:49cfda6c547f
|
258
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
259
|
DataType dt;
|
| shintamainjp |
15:49cfda6c547f
|
260
|
uint32_t length = 0;
|
| shintamainjp |
15:49cfda6c547f
|
261
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
262
|
en = recvData(&dt, &length);
|
| shintamainjp |
15:49cfda6c547f
|
263
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
264
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
265
|
}
|
| shintamainjp |
15:49cfda6c547f
|
266
|
en = sendAck(0x00, 0);
|
| shintamainjp |
15:49cfda6c547f
|
267
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
268
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
269
|
}
|
| shintamainjp |
15:49cfda6c547f
|
270
|
|
| shintamainjp |
15:49cfda6c547f
|
271
|
char databuf[packageSize - 6];
|
| shintamainjp |
15:49cfda6c547f
|
272
|
uint16_t pkg_total = length / (packageSize - 6);
|
| shintamainjp |
15:49cfda6c547f
|
273
|
for (int i = 0; i <= (int)pkg_total; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
274
|
uint16_t checksum = 0;
|
| shintamainjp |
15:49cfda6c547f
|
275
|
// ID.
|
| shintamainjp |
15:49cfda6c547f
|
276
|
char idbuf[2];
|
| shintamainjp |
15:49cfda6c547f
|
277
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
278
|
if (!RECVFUNC(idbuf, sizeof(idbuf))) {
|
| shintamainjp |
15:49cfda6c547f
|
279
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
280
|
}
|
| shintamainjp |
15:49cfda6c547f
|
281
|
checksum += idbuf[0];
|
| shintamainjp |
15:49cfda6c547f
|
282
|
checksum += idbuf[1];
|
| shintamainjp |
15:49cfda6c547f
|
283
|
uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
284
|
if (id != i) {
|
| shintamainjp |
15:49cfda6c547f
|
285
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
286
|
}
|
| shintamainjp |
15:49cfda6c547f
|
287
|
|
| shintamainjp |
15:49cfda6c547f
|
288
|
// Size of the data.
|
| shintamainjp |
15:49cfda6c547f
|
289
|
char dsbuf[2];
|
| shintamainjp |
15:49cfda6c547f
|
290
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
291
|
if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
|
| shintamainjp |
15:49cfda6c547f
|
292
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
293
|
}
|
| shintamainjp |
15:49cfda6c547f
|
294
|
|
| shintamainjp |
15:49cfda6c547f
|
295
|
// Received the data.
|
| shintamainjp |
15:49cfda6c547f
|
296
|
checksum += dsbuf[0];
|
| shintamainjp |
15:49cfda6c547f
|
297
|
checksum += dsbuf[1];
|
| shintamainjp |
15:49cfda6c547f
|
298
|
uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
299
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
300
|
if (!RECVFUNC(&databuf[0], ds)) {
|
| shintamainjp |
15:49cfda6c547f
|
301
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
302
|
}
|
| shintamainjp |
15:49cfda6c547f
|
303
|
for (int j = 0; j < ds; j++) {
|
| shintamainjp |
15:49cfda6c547f
|
304
|
checksum += databuf[j];
|
| shintamainjp |
15:49cfda6c547f
|
305
|
}
|
| shintamainjp |
15:49cfda6c547f
|
306
|
|
| shintamainjp |
15:49cfda6c547f
|
307
|
// Verify code.
|
| shintamainjp |
15:49cfda6c547f
|
308
|
char vcbuf[2];
|
| shintamainjp |
15:49cfda6c547f
|
309
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
310
|
if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
|
| shintamainjp |
15:49cfda6c547f
|
311
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
312
|
}
|
| shintamainjp |
15:49cfda6c547f
|
313
|
uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
314
|
if (vc != (checksum & 0xff)) {
|
| shintamainjp |
15:49cfda6c547f
|
315
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
316
|
}
|
| shintamainjp |
15:49cfda6c547f
|
317
|
|
| shintamainjp |
15:49cfda6c547f
|
318
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
319
|
* Call a call back function.
|
| shintamainjp |
15:49cfda6c547f
|
320
|
* You can block this function while working.
|
| shintamainjp |
15:49cfda6c547f
|
321
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
322
|
func(databuf, ds);
|
| shintamainjp |
15:49cfda6c547f
|
323
|
|
| shintamainjp |
15:49cfda6c547f
|
324
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
325
|
* We should wait for camera working before reply a ACK.
|
| shintamainjp |
15:49cfda6c547f
|
326
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
327
|
wait_ms(100);
|
| shintamainjp |
15:49cfda6c547f
|
328
|
en = sendAck(0x00, 1 + i);
|
| shintamainjp |
15:49cfda6c547f
|
329
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
330
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
331
|
}
|
| shintamainjp |
15:49cfda6c547f
|
332
|
}
|
| shintamainjp |
15:49cfda6c547f
|
333
|
|
| shintamainjp |
15:49cfda6c547f
|
334
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
335
|
}
|
| shintamainjp |
15:49cfda6c547f
|
336
|
|
| shintamainjp |
15:49cfda6c547f
|
337
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
338
|
* Get JPEG preview picture.
|
| shintamainjp |
15:49cfda6c547f
|
339
|
*
|
| shintamainjp |
15:49cfda6c547f
|
340
|
* @param func A pointer to a callback function.
|
| shintamainjp |
15:49cfda6c547f
|
341
|
* You can block this function until saving the image datas.
|
| shintamainjp |
15:49cfda6c547f
|
342
|
* @return Status of the error.
|
| shintamainjp |
15:49cfda6c547f
|
343
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
344
|
CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) {
|
| shintamainjp |
15:49cfda6c547f
|
345
|
WAITIDLE();
|
| shintamainjp |
15:49cfda6c547f
|
346
|
ErrorNumber en;
|
| shintamainjp |
15:49cfda6c547f
|
347
|
|
| shintamainjp |
15:49cfda6c547f
|
348
|
en = sendGetPicture(JpegPreviewPicture);
|
| shintamainjp |
15:49cfda6c547f
|
349
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
350
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
351
|
}
|
| shintamainjp |
15:49cfda6c547f
|
352
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
353
|
en = recvAckOrNck();
|
| shintamainjp |
15:49cfda6c547f
|
354
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
355
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
356
|
}
|
| shintamainjp |
15:49cfda6c547f
|
357
|
|
| shintamainjp |
15:49cfda6c547f
|
358
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
359
|
* Data : JPEG preview picture
|
| shintamainjp |
15:49cfda6c547f
|
360
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
361
|
DataType dt;
|
| shintamainjp |
15:49cfda6c547f
|
362
|
uint32_t length = 0;
|
| shintamainjp |
15:49cfda6c547f
|
363
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
364
|
en = recvData(&dt, &length);
|
| shintamainjp |
15:49cfda6c547f
|
365
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
366
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
367
|
}
|
| shintamainjp |
15:49cfda6c547f
|
368
|
en = sendAck(0x00, 0);
|
| shintamainjp |
15:49cfda6c547f
|
369
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
370
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
371
|
}
|
| shintamainjp |
15:49cfda6c547f
|
372
|
|
| shintamainjp |
15:49cfda6c547f
|
373
|
char databuf[packageSize - 6];
|
| shintamainjp |
15:49cfda6c547f
|
374
|
uint16_t pkg_total = length / (packageSize - 6);
|
| shintamainjp |
15:49cfda6c547f
|
375
|
for (int i = 0; i <= (int)pkg_total; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
376
|
uint16_t checksum = 0;
|
| shintamainjp |
15:49cfda6c547f
|
377
|
// ID.
|
| shintamainjp |
15:49cfda6c547f
|
378
|
char idbuf[2];
|
| shintamainjp |
15:49cfda6c547f
|
379
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
380
|
if (!RECVFUNC(idbuf, sizeof(idbuf))) {
|
| shintamainjp |
15:49cfda6c547f
|
381
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
382
|
}
|
| shintamainjp |
15:49cfda6c547f
|
383
|
checksum += idbuf[0];
|
| shintamainjp |
15:49cfda6c547f
|
384
|
checksum += idbuf[1];
|
| shintamainjp |
15:49cfda6c547f
|
385
|
uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
386
|
if (id != i) {
|
| shintamainjp |
15:49cfda6c547f
|
387
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
388
|
}
|
| shintamainjp |
15:49cfda6c547f
|
389
|
|
| shintamainjp |
15:49cfda6c547f
|
390
|
// Size of the data.
|
| shintamainjp |
15:49cfda6c547f
|
391
|
char dsbuf[2];
|
| shintamainjp |
15:49cfda6c547f
|
392
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
393
|
if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
|
| shintamainjp |
15:49cfda6c547f
|
394
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
395
|
}
|
| shintamainjp |
15:49cfda6c547f
|
396
|
|
| shintamainjp |
15:49cfda6c547f
|
397
|
// Received the data.
|
| shintamainjp |
15:49cfda6c547f
|
398
|
checksum += dsbuf[0];
|
| shintamainjp |
15:49cfda6c547f
|
399
|
checksum += dsbuf[1];
|
| shintamainjp |
15:49cfda6c547f
|
400
|
uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
401
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
402
|
if (!RECVFUNC(&databuf[0], ds)) {
|
| shintamainjp |
15:49cfda6c547f
|
403
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
404
|
}
|
| shintamainjp |
15:49cfda6c547f
|
405
|
for (int j = 0; j < ds; j++) {
|
| shintamainjp |
15:49cfda6c547f
|
406
|
checksum += databuf[j];
|
| shintamainjp |
15:49cfda6c547f
|
407
|
}
|
| shintamainjp |
15:49cfda6c547f
|
408
|
|
| shintamainjp |
15:49cfda6c547f
|
409
|
// Verify code.
|
| shintamainjp |
15:49cfda6c547f
|
410
|
char vcbuf[2];
|
| shintamainjp |
15:49cfda6c547f
|
411
|
WAITFUNC();
|
| shintamainjp |
15:49cfda6c547f
|
412
|
if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
|
| shintamainjp |
15:49cfda6c547f
|
413
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
414
|
}
|
| shintamainjp |
15:49cfda6c547f
|
415
|
uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
416
|
if (vc != (checksum & 0xff)) {
|
| shintamainjp |
15:49cfda6c547f
|
417
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
418
|
}
|
| shintamainjp |
15:49cfda6c547f
|
419
|
|
| shintamainjp |
15:49cfda6c547f
|
420
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
421
|
* Call a call back function.
|
| shintamainjp |
15:49cfda6c547f
|
422
|
* You can block this function while working.
|
| shintamainjp |
15:49cfda6c547f
|
423
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
424
|
func(databuf, ds);
|
| shintamainjp |
15:49cfda6c547f
|
425
|
|
| shintamainjp |
15:49cfda6c547f
|
426
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
427
|
* We should wait for camera working before reply a ACK.
|
| shintamainjp |
15:49cfda6c547f
|
428
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
429
|
wait_ms(100);
|
| shintamainjp |
15:49cfda6c547f
|
430
|
en = sendAck(0x00, 1 + i);
|
| shintamainjp |
15:49cfda6c547f
|
431
|
if (NoError != en) {
|
| shintamainjp |
15:49cfda6c547f
|
432
|
return en;
|
| shintamainjp |
15:49cfda6c547f
|
433
|
}
|
| shintamainjp |
15:49cfda6c547f
|
434
|
}
|
| shintamainjp |
15:49cfda6c547f
|
435
|
|
| shintamainjp |
15:49cfda6c547f
|
436
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
437
|
}
|
| shintamainjp |
15:49cfda6c547f
|
438
|
|
| shintamainjp |
15:49cfda6c547f
|
439
|
CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
|
| shintamainjp |
15:49cfda6c547f
|
440
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
441
|
|
| shintamainjp |
15:49cfda6c547f
|
442
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
443
|
send[1] = 0x01;
|
| shintamainjp |
15:49cfda6c547f
|
444
|
send[2] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
445
|
send[3] = (char)ct;
|
| shintamainjp |
15:49cfda6c547f
|
446
|
send[4] = (char)rr;
|
| shintamainjp |
15:49cfda6c547f
|
447
|
send[5] = (char)jr;
|
| shintamainjp |
15:49cfda6c547f
|
448
|
|
| shintamainjp |
15:49cfda6c547f
|
449
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
450
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
451
|
}
|
| shintamainjp |
15:49cfda6c547f
|
452
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
453
|
}
|
| shintamainjp |
15:49cfda6c547f
|
454
|
|
| shintamainjp |
15:49cfda6c547f
|
455
|
CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
|
| shintamainjp |
15:49cfda6c547f
|
456
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
457
|
|
| shintamainjp |
15:49cfda6c547f
|
458
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
459
|
send[1] = 0x04;
|
| shintamainjp |
15:49cfda6c547f
|
460
|
send[2] = (char)pt;
|
| shintamainjp |
15:49cfda6c547f
|
461
|
send[3] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
462
|
send[4] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
463
|
send[5] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
464
|
|
| shintamainjp |
15:49cfda6c547f
|
465
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
466
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
467
|
}
|
| shintamainjp |
15:49cfda6c547f
|
468
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
469
|
}
|
| shintamainjp |
15:49cfda6c547f
|
470
|
|
| shintamainjp |
15:49cfda6c547f
|
471
|
CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
|
| shintamainjp |
15:49cfda6c547f
|
472
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
473
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
474
|
send[1] = 0x05;
|
| shintamainjp |
15:49cfda6c547f
|
475
|
send[2] = (char)st;
|
| shintamainjp |
15:49cfda6c547f
|
476
|
send[3] = (skipFrames >> 0) & 0xff;
|
| shintamainjp |
15:49cfda6c547f
|
477
|
send[4] = (skipFrames >> 8) & 0xff;
|
| shintamainjp |
15:49cfda6c547f
|
478
|
send[5] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
479
|
|
| shintamainjp |
15:49cfda6c547f
|
480
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
481
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
482
|
}
|
| shintamainjp |
15:49cfda6c547f
|
483
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
484
|
}
|
| shintamainjp |
15:49cfda6c547f
|
485
|
|
| shintamainjp |
15:49cfda6c547f
|
486
|
CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
|
| shintamainjp |
15:49cfda6c547f
|
487
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
488
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
489
|
send[1] = 0x06;
|
| shintamainjp |
15:49cfda6c547f
|
490
|
send[2] = 0x08;
|
| shintamainjp |
15:49cfda6c547f
|
491
|
send[3] = (packageSize >> 0) & 0xff;
|
| shintamainjp |
15:49cfda6c547f
|
492
|
send[4] = (packageSize >> 8) & 0xff;
|
| shintamainjp |
15:49cfda6c547f
|
493
|
send[5] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
494
|
|
| shintamainjp |
15:49cfda6c547f
|
495
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
496
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
497
|
}
|
| shintamainjp |
15:49cfda6c547f
|
498
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
499
|
}
|
| shintamainjp |
15:49cfda6c547f
|
500
|
|
| shintamainjp |
15:49cfda6c547f
|
501
|
CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
|
| shintamainjp |
15:49cfda6c547f
|
502
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
503
|
|
| shintamainjp |
15:49cfda6c547f
|
504
|
static struct baud_list {
|
| shintamainjp |
15:49cfda6c547f
|
505
|
Baud baud;
|
| shintamainjp |
15:49cfda6c547f
|
506
|
uint8_t div1st;
|
| shintamainjp |
15:49cfda6c547f
|
507
|
uint8_t div2nd;
|
| shintamainjp |
15:49cfda6c547f
|
508
|
} baudtable [] = {
|
| shintamainjp |
15:49cfda6c547f
|
509
|
{ Baud7200, 0xff, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
510
|
{ Baud9600, 0xbf, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
511
|
{ Baud14400, 0x7f, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
512
|
{ Baud19200, 0x5f, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
513
|
{ Baud28800, 0x3f, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
514
|
{ Baud38400, 0x2f, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
515
|
{ Baud57600, 0x1f, 0x01 },
|
| shintamainjp |
15:49cfda6c547f
|
516
|
{ Baud115200, 0x0f, 0x01 }
|
| shintamainjp |
15:49cfda6c547f
|
517
|
};
|
| shintamainjp |
15:49cfda6c547f
|
518
|
|
| shintamainjp |
15:49cfda6c547f
|
519
|
uint8_t div1st = 0x00, div2nd = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
520
|
struct baud_list *p = &baudtable[0];
|
| shintamainjp |
15:49cfda6c547f
|
521
|
for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
|
| shintamainjp |
15:49cfda6c547f
|
522
|
if (p->baud == baud) {
|
| shintamainjp |
15:49cfda6c547f
|
523
|
div1st = p->div1st;
|
| shintamainjp |
15:49cfda6c547f
|
524
|
div2nd = p->div2nd;
|
| shintamainjp |
15:49cfda6c547f
|
525
|
}
|
| shintamainjp |
15:49cfda6c547f
|
526
|
p++;
|
| shintamainjp |
15:49cfda6c547f
|
527
|
}
|
| shintamainjp |
15:49cfda6c547f
|
528
|
|
| shintamainjp |
15:49cfda6c547f
|
529
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
530
|
send[1] = 0x07;
|
| shintamainjp |
15:49cfda6c547f
|
531
|
send[2] = div1st;
|
| shintamainjp |
15:49cfda6c547f
|
532
|
send[3] = div2nd;
|
| shintamainjp |
15:49cfda6c547f
|
533
|
send[4] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
534
|
send[5] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
535
|
|
| shintamainjp |
15:49cfda6c547f
|
536
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
537
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
538
|
}
|
| shintamainjp |
15:49cfda6c547f
|
539
|
|
| shintamainjp |
15:49cfda6c547f
|
540
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
541
|
}
|
| shintamainjp |
15:49cfda6c547f
|
542
|
|
| shintamainjp |
15:49cfda6c547f
|
543
|
CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
|
| shintamainjp |
15:49cfda6c547f
|
544
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
545
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
546
|
send[1] = 0x08;
|
| shintamainjp |
15:49cfda6c547f
|
547
|
send[2] = (int)rt;
|
| shintamainjp |
15:49cfda6c547f
|
548
|
send[3] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
549
|
send[4] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
550
|
send[5] = specialReset ? 0xff : 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
551
|
/*
|
| shintamainjp |
15:49cfda6c547f
|
552
|
* Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
|
| shintamainjp |
15:49cfda6c547f
|
553
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
554
|
|
| shintamainjp |
15:49cfda6c547f
|
555
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
556
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
557
|
}
|
| shintamainjp |
15:49cfda6c547f
|
558
|
|
| shintamainjp |
15:49cfda6c547f
|
559
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
560
|
}
|
| shintamainjp |
15:49cfda6c547f
|
561
|
|
| shintamainjp |
15:49cfda6c547f
|
562
|
CameraC328::ErrorNumber CameraC328::sendPowerOff() {
|
| shintamainjp |
15:49cfda6c547f
|
563
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
564
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
565
|
send[1] = 0x09;
|
| shintamainjp |
15:49cfda6c547f
|
566
|
send[2] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
567
|
send[3] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
568
|
send[4] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
569
|
send[5] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
570
|
|
| shintamainjp |
15:49cfda6c547f
|
571
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
572
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
573
|
}
|
| shintamainjp |
15:49cfda6c547f
|
574
|
|
| shintamainjp |
15:49cfda6c547f
|
575
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
576
|
}
|
| shintamainjp |
15:49cfda6c547f
|
577
|
|
| shintamainjp |
15:49cfda6c547f
|
578
|
CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) {
|
| shintamainjp |
15:49cfda6c547f
|
579
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
580
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
15:49cfda6c547f
|
581
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
582
|
}
|
| shintamainjp |
15:49cfda6c547f
|
583
|
if ((0xAA != recv[0]) || (0x0A != recv[1])) {
|
| shintamainjp |
15:49cfda6c547f
|
584
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
585
|
}
|
| shintamainjp |
15:49cfda6c547f
|
586
|
*dt = (DataType)recv[2];
|
| shintamainjp |
15:49cfda6c547f
|
587
|
*length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
|
| shintamainjp |
15:49cfda6c547f
|
588
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
589
|
}
|
| shintamainjp |
15:49cfda6c547f
|
590
|
|
| shintamainjp |
15:49cfda6c547f
|
591
|
CameraC328::ErrorNumber CameraC328::sendSync() {
|
| shintamainjp |
15:49cfda6c547f
|
592
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
593
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
594
|
send[1] = 0x0D;
|
| shintamainjp |
15:49cfda6c547f
|
595
|
send[2] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
596
|
send[3] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
597
|
send[4] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
598
|
send[5] = 0x00;
|
| shintamainjp |
15:49cfda6c547f
|
599
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
600
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
601
|
}
|
| shintamainjp |
15:49cfda6c547f
|
602
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
603
|
}
|
| shintamainjp |
15:49cfda6c547f
|
604
|
|
| shintamainjp |
15:49cfda6c547f
|
605
|
CameraC328::ErrorNumber CameraC328::recvSync() {
|
| shintamainjp |
15:49cfda6c547f
|
606
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
607
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
15:49cfda6c547f
|
608
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
609
|
}
|
| shintamainjp |
15:49cfda6c547f
|
610
|
if ((0xAA != recv[0]) || (0x0D != recv[1])) {
|
| shintamainjp |
15:49cfda6c547f
|
611
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
612
|
}
|
| shintamainjp |
15:49cfda6c547f
|
613
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
614
|
}
|
| shintamainjp |
15:49cfda6c547f
|
615
|
|
| shintamainjp |
15:49cfda6c547f
|
616
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
617
|
* Send ACK.
|
| shintamainjp |
15:49cfda6c547f
|
618
|
*
|
| shintamainjp |
15:49cfda6c547f
|
619
|
* @param commandId The command with that ID is acknowledged by this command.
|
| shintamainjp |
15:49cfda6c547f
|
620
|
* @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 |
15:49cfda6c547f
|
621
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
622
|
CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
|
| shintamainjp |
15:49cfda6c547f
|
623
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
624
|
send[0] = 0xAA;
|
| shintamainjp |
15:49cfda6c547f
|
625
|
send[1] = 0x0E;
|
| shintamainjp |
15:49cfda6c547f
|
626
|
send[2] = commandId;
|
| shintamainjp |
15:49cfda6c547f
|
627
|
send[3] = 0x00; // ACK counter is not used.
|
| shintamainjp |
15:49cfda6c547f
|
628
|
send[4] = (packageId >> 0) & 0xff;
|
| shintamainjp |
15:49cfda6c547f
|
629
|
send[5] = (packageId >> 8) & 0xff;
|
| shintamainjp |
15:49cfda6c547f
|
630
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
15:49cfda6c547f
|
631
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
15:49cfda6c547f
|
632
|
}
|
| shintamainjp |
15:49cfda6c547f
|
633
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
634
|
}
|
| shintamainjp |
15:49cfda6c547f
|
635
|
|
| shintamainjp |
15:49cfda6c547f
|
636
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
637
|
* Receive ACK or NCK.
|
| shintamainjp |
15:49cfda6c547f
|
638
|
*
|
| shintamainjp |
15:49cfda6c547f
|
639
|
* @return Error number.
|
| shintamainjp |
15:49cfda6c547f
|
640
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
641
|
CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
|
| shintamainjp |
15:49cfda6c547f
|
642
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
15:49cfda6c547f
|
643
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
15:49cfda6c547f
|
644
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
645
|
}
|
| shintamainjp |
15:49cfda6c547f
|
646
|
if ((0xAA == recv[0]) && (0x0E == recv[1])) {
|
| shintamainjp |
15:49cfda6c547f
|
647
|
return (ErrorNumber)NoError;
|
| shintamainjp |
15:49cfda6c547f
|
648
|
}
|
| shintamainjp |
15:49cfda6c547f
|
649
|
if ((0xAA == recv[0]) && (0x0F == recv[1])) {
|
| shintamainjp |
15:49cfda6c547f
|
650
|
return (ErrorNumber)recv[4];
|
| shintamainjp |
15:49cfda6c547f
|
651
|
}
|
| shintamainjp |
15:49cfda6c547f
|
652
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
15:49cfda6c547f
|
653
|
}
|
| shintamainjp |
15:49cfda6c547f
|
654
|
|
| shintamainjp |
15:49cfda6c547f
|
655
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
656
|
* Send bytes to camera module.
|
| shintamainjp |
15:49cfda6c547f
|
657
|
*
|
| shintamainjp |
15:49cfda6c547f
|
658
|
* @param buf Pointer to the data buffer.
|
| shintamainjp |
15:49cfda6c547f
|
659
|
* @param len Length of the data buffer.
|
| shintamainjp |
15:49cfda6c547f
|
660
|
*
|
| shintamainjp |
15:49cfda6c547f
|
661
|
* @return True if the data sended.
|
| shintamainjp |
15:49cfda6c547f
|
662
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
663
|
bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
|
| shintamainjp |
15:49cfda6c547f
|
664
|
for (uint32_t i = 0; i < (uint32_t)len; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
665
|
int cnt = 0;
|
| shintamainjp |
15:49cfda6c547f
|
666
|
while (!serial.writeable()) {
|
| shintamainjp |
15:49cfda6c547f
|
667
|
wait_us(1);
|
| shintamainjp |
15:49cfda6c547f
|
668
|
cnt++;
|
| shintamainjp |
15:49cfda6c547f
|
669
|
if (timeout_us < cnt) {
|
| shintamainjp |
15:49cfda6c547f
|
670
|
return false;
|
| shintamainjp |
15:49cfda6c547f
|
671
|
}
|
| shintamainjp |
15:49cfda6c547f
|
672
|
}
|
| shintamainjp |
15:49cfda6c547f
|
673
|
serial.putc(buf[i]);
|
| shintamainjp |
15:49cfda6c547f
|
674
|
}
|
| shintamainjp |
15:49cfda6c547f
|
675
|
return true;
|
| shintamainjp |
15:49cfda6c547f
|
676
|
}
|
| shintamainjp |
15:49cfda6c547f
|
677
|
|
| shintamainjp |
15:49cfda6c547f
|
678
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
679
|
* Receive bytes from camera module.
|
| shintamainjp |
15:49cfda6c547f
|
680
|
*
|
| shintamainjp |
15:49cfda6c547f
|
681
|
* @param buf Pointer to the data buffer.
|
| shintamainjp |
15:49cfda6c547f
|
682
|
* @param len Length of the data buffer.
|
| shintamainjp |
15:49cfda6c547f
|
683
|
*
|
| shintamainjp |
15:49cfda6c547f
|
684
|
* @return True if the data received.
|
| shintamainjp |
15:49cfda6c547f
|
685
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
686
|
bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
|
| shintamainjp |
15:49cfda6c547f
|
687
|
for (uint32_t i = 0; i < (uint32_t)len; i++) {
|
| shintamainjp |
15:49cfda6c547f
|
688
|
int cnt = 0;
|
| shintamainjp |
15:49cfda6c547f
|
689
|
while (!serial.readable()) {
|
| shintamainjp |
15:49cfda6c547f
|
690
|
wait_us(1);
|
| shintamainjp |
15:49cfda6c547f
|
691
|
cnt++;
|
| shintamainjp |
15:49cfda6c547f
|
692
|
if (timeout_us < cnt) {
|
| shintamainjp |
15:49cfda6c547f
|
693
|
return false;
|
| shintamainjp |
15:49cfda6c547f
|
694
|
}
|
| shintamainjp |
15:49cfda6c547f
|
695
|
}
|
| shintamainjp |
15:49cfda6c547f
|
696
|
buf[i] = serial.getc();
|
| shintamainjp |
15:49cfda6c547f
|
697
|
}
|
| shintamainjp |
15:49cfda6c547f
|
698
|
return true;
|
| shintamainjp |
15:49cfda6c547f
|
699
|
}
|
| shintamainjp |
15:49cfda6c547f
|
700
|
|
| shintamainjp |
15:49cfda6c547f
|
701
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
702
|
* Wait received.
|
| shintamainjp |
15:49cfda6c547f
|
703
|
*
|
| shintamainjp |
15:49cfda6c547f
|
704
|
* @return True if the data received.
|
| shintamainjp |
15:49cfda6c547f
|
705
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
706
|
bool CameraC328::waitRecv() {
|
| shintamainjp |
15:49cfda6c547f
|
707
|
while (!serial.readable()) {
|
| shintamainjp |
15:49cfda6c547f
|
708
|
}
|
| shintamainjp |
15:49cfda6c547f
|
709
|
return true;
|
| shintamainjp |
15:49cfda6c547f
|
710
|
}
|
| shintamainjp |
15:49cfda6c547f
|
711
|
|
| shintamainjp |
15:49cfda6c547f
|
712
|
/**
|
| shintamainjp |
15:49cfda6c547f
|
713
|
* Wait idle state.
|
| shintamainjp |
15:49cfda6c547f
|
714
|
*/
|
| shintamainjp |
15:49cfda6c547f
|
715
|
bool CameraC328::waitIdle() {
|
| shintamainjp |
15:49cfda6c547f
|
716
|
while (serial.readable()) {
|
| shintamainjp |
15:49cfda6c547f
|
717
|
serial.getc();
|
| shintamainjp |
15:49cfda6c547f
|
718
|
}
|
| shintamainjp |
15:49cfda6c547f
|
719
|
return true;
|
| shintamainjp |
15:49cfda6c547f
|
720
|
}
|
Shinichiro Nakamura
CameraC328