Revision 0:5a6468b4164d, committed 2012-07-09

Comitter:

sunifu

Date:

Mon Jul 09 10:23:32 2012 +0000

Commit message:

v0.95

Changed in this revision

diff -r 000000000000 -r 5a6468b4164d CameraC1098.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CameraC1098.cpp	Mon Jul 09 10:23:32 2012 +0000
@@ -0,0 +1,494 @@
+/**
+ * C1098-SS device driver class (Version 1.0)
+ * Reference documents: C1098-SS User Manual v1.0 2012.4.1
+ *
+ * CameraC328Library
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * http://shinta.main.jp/
+ *
+ * CameraC1098-SS Library
+ * Copyright (C) 2012 Tadao Iida
+ */
+
+#include "CameraC1098.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 Baud14400.)
+ */
+CameraC1098::CameraC1098(PinName tx, PinName rx, int baud) : serial(tx, rx) {
+    serial.baud(baud);
+}
+
+/**
+ * Destructor.
+ */
+CameraC1098::~CameraC1098() {
+}
+
+/**
+ * Make a sync. for baud rate.
+ */
+CameraC1098::ErrorNumber CameraC1098::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(2.0);
+                        return NoError;
+                    }
+                }
+            }
+        }
+        wait_ms(50);
+    }
+    return UnexpectedReply;
+}
+
+/**
+ * Initialize.
+ *
+ * @param baud Camera Interface Speed.
+ * @param jr JPEG resolution.
+ */
+CameraC1098::ErrorNumber CameraC1098::init(Baud baud,JpegResolution jr) {
+    int i ;
+    ErrorNumber en;
+    WAITIDLE();
+    setmbedBaud((Baud)(0x07)) ;
+  
+    for ( i = 1 ; i < 7 ; i++ ) {
+        if ( NoError == sendSync() ) {
+            if ( NoError == recvAckOrNck() ){
+                if ( NoError == recvSync() ) {
+                    if ( NoError == sendAck(0x0D, 0x00) ) {
+                        en = sendInitial(baud,jr);
+                        if (NoError != en) {
+                            return en;
+                        }    
+                        en = recvAckOrNck();
+                        if (NoError != en) {
+                            return en;
+                        }      
+                        wait_ms(50) ;
+                        setmbedBaud(baud);   
+                        //wait_ms(50) ; 
+                        static bool alreadySetupPackageSize = false;
+                        if (!alreadySetupPackageSize) {
+                            en = sendSetPackageSize(packageSize);
+                            if (NoError != en) {
+                                return en;
+                            }
+                            WAITFUNC();
+                            en = recvAckOrNck();
+                            if (NoError != en) {
+                                return en;
+                            }
+                            alreadySetupPackageSize = true;
+                        }
+                        
+                        wait(2.0);
+                        return (ErrorNumber)NoError;                                                                 
+                       /*
+                        * 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.
+                        */
+                    }
+                }                 
+            }else{
+                setmbedBaud((Baud)(i+1)) ;   
+            }
+        }
+        wait_ms(50);   
+    }                 
+    return UnexpectedReply;
+}
+
+
+/**
+ * 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.
+ */
+CameraC1098::ErrorNumber CameraC1098::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
+    WAITIDLE();
+    ErrorNumber en;
+
+
+    en = sendSnapshot();
+    if (NoError != en) {
+        return en;
+    }
+    WAITFUNC();
+    en = recvAckOrNck();
+    if (NoError != en) {
+        return en;
+    }
+
+    en = sendGetPicture();
+    if (NoError != en) {
+        return en;
+    }
+    WAITFUNC();
+    en = recvAckOrNck();
+    if (NoError != en) {
+        return en;
+    }
+
+    /*
+     * Data : snapshot picture
+     */
+    uint32_t length = 0;
+    WAITFUNC();
+    en = recvData(&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;
+}
+
+
+
+CameraC1098::ErrorNumber CameraC1098::sendInitial(Baud baud, JpegResolution jr) {
+    char send[COMMAND_LENGTH];
+    
+    send[0] = 0xAA;
+    send[1] = 0x01;
+    send[2] = (char)baud;
+    send[3] = 0x07;
+    send[4] = 0x00;
+    send[5] = (char)jr;
+
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+
+    return (ErrorNumber)NoError;
+}
+
+CameraC1098::ErrorNumber CameraC1098::sendGetPicture(void) {
+    char send[COMMAND_LENGTH];
+
+    send[0] = 0xAA;
+    send[1] = 0x04;
+    send[2] = 0x01;
+    send[3] = 0x00;
+    send[4] = 0x00;
+    send[5] = 0x00;
+
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+    return (ErrorNumber)NoError;
+}
+
+CameraC1098::ErrorNumber CameraC1098::sendSnapshot(void) {
+    char send[COMMAND_LENGTH];
+    send[0] = 0xAA;
+    send[1] = 0x05;
+    send[2] = 0x00;
+    send[3] = 0x00;
+    send[4] = 0x00;
+    send[5] = 0x00;
+
+    if (!SENDFUNC(send, sizeof(send))) {
+        return (ErrorNumber)SendRegisterTimeout;
+    }
+    return (ErrorNumber)NoError;
+}
+
+CameraC1098::ErrorNumber CameraC1098::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;
+}
+
+void CameraC1098::setmbedBaud(Baud baud){
+    switch((int)baud){
+    case 0x02:
+        serial._baud(460800);
+        break;
+    case 0x03:
+        serial._baud(230400);
+        break;
+    case 0x04:
+        serial._baud(115200);
+        break;
+    case 0x05:
+        serial._baud(57600);
+        break;
+    case 0x06:
+        serial._baud((int)28800);
+        break;
+    case 0x07:
+        serial._baud(14400);
+        break;    
+    default:
+        serial._baud(14400);  
+    }
+}
+
+
+CameraC1098::ErrorNumber CameraC1098::sendReset(ResetType specialReset) {
+    char send[COMMAND_LENGTH];
+    send[0] = 0xAA;
+    send[1] = 0x08;
+    send[2] = 0x00;
+    send[3] = 0x00;
+    send[4] = 0x00;
+    send[5] = specialReset;
+    /*
+     * 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;
+}
+
+
+CameraC1098::ErrorNumber CameraC1098::recvData(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;
+    }
+    recv[2] = (char)0x01;
+    *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
+    return (ErrorNumber)NoError;
+}
+
+CameraC1098::ErrorNumber CameraC1098::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;
+}
+
+CameraC1098::ErrorNumber CameraC1098::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.
+ */
+CameraC1098::ErrorNumber CameraC1098::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.
+ */
+CameraC1098::ErrorNumber CameraC1098::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]) && (0x00 == recv[2])) {
+        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 CameraC1098::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 CameraC1098::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 CameraC1098::waitRecv() {
+    while (!serial.readable()) {
+    }
+    return true;
+}
+
+/**
+ * Wait idle state.
+ */
+bool CameraC1098::waitIdle() {
+    while (serial.readable()) {
+        serial.getc();
+    }
+    return true;
+}

diff -r 000000000000 -r 5a6468b4164d CameraC1098.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CameraC1098.h	Mon Jul 09 10:23:32 2012 +0000
@@ -0,0 +1,134 @@
+/**
+ * C1098-SS device driver class (Version 1.0)
+ * Reference documents: C1098-SS User Manual v1.0 2012.5.6
+ *
+ * CameraC328Library
+ * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
+ * http://shinta.main.jp/
+ *
+ * CameraC1098-SS Library
+ * Copyright (C) 2012 Tadao Iida
+ */
+
+#include "mbed.h"
+#include "SerialBuffered.h"
+
+#ifndef _CAMERA_C1098_H_
+#define _CAMERA_C1098_H_
+
+/*
+ * Class: CameraC1098
+ */
+ 
+class CameraC1098 {
+public:
+
+    /**
+     * @enum JPEG resolution.
+     */
+    enum JpegResolution {
+         JpegResolution80x64 = 0x01,   // unofficial
+         JpegResolution160x128 = 0x03, // unofficial
+         JpegResolution320x240 = 0x05, // QVGA
+         JpegResolution640x480 = 0x07  // VGA
+    };
+
+    /**
+     * @enum Error number.
+     */
+    enum ErrorNumber {
+        NoError = 0x00,
+        UnexpectedReply = 0x04,
+        ParameterError = 0x0b,
+        SendRegisterTimeout = 0x0c,
+        CommandIdError = 0x0d,
+        CommandHeaderError = 0xf0,
+        SetTransferPackageSizeWrong = 0x11
+    };
+
+    /**
+     * @enum Baud rate.
+     */
+    enum Baud {
+        Baud460800 = 0x02,
+        Baud230400 = 0x03,
+        Baud115200 = 0x04,
+        Baud57600  = 0x05,
+        Baud28800  = 0x06,
+        Baud14400  = 0x07  // Default. 
+    };
+
+    /**
+     *  @enum Reset type.
+     */
+    enum ResetType {
+        Nomal = 0x00,
+        High  = 0xff
+    };
+
+    /** Constructor.
+     *
+     * @param tx A pin for transmit.
+     * @param rx A pin for receive.
+     * @param baud Baud rate. (Default is 14400.)
+     */
+    CameraC1098(PinName tx, PinName rx, int baud = 14400);
+
+    /** Destructor.
+     * 
+     */
+    ~CameraC1098();
+
+    /** sync 
+     * Make a sync. for baud rate.
+     */
+    ErrorNumber sync();
+
+    /** Initialize.
+     * 
+     *
+     * @param baud Camera Interface Speed.
+     * @param jr JPEG resolution.
+     */
+    ErrorNumber init(Baud baud, JpegResolution jr);
+
+    /** getJpegSnapshotPicture
+     * 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));
+
+    /** setmbedBaud
+     *  mbed Interface Speed.
+     *
+     *  @param baud mbed Interface Speed.
+     */
+    void setmbedBaud(Baud baud);
+    
+private:
+    SerialBuffered serial;
+    static const int COMMAND_LENGTH = 6;
+    static const int SYNCMAX = 60;
+    static const int packageSize = 256;
+
+    ErrorNumber sendInitial(Baud band, JpegResolution jr);
+    ErrorNumber sendGetPicture(void);
+    ErrorNumber sendSnapshot(void);    
+    ErrorNumber sendSetPackageSize(uint16_t packageSize);
+    ErrorNumber sendReset(ResetType specialReset);  
+    ErrorNumber recvData(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 000000000000 -r 5a6468b4164d SerialBuffered.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialBuffered.cpp	Mon Jul 09 10:23:32 2012 +0000
@@ -0,0 +1,103 @@
+#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;
+        }
+    }
+}
+
+void SerialBuffered::_baud(int b) {
+    Serial::baud(b);
+}    

diff -r 000000000000 -r 5a6468b4164d SerialBuffered.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SerialBuffered.h	Mon Jul 09 10:23:32 2012 +0000
@@ -0,0 +1,62 @@
+#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);
+
+    void _baud(int b);
+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