エレキジャック Web版 マイコン・カーを製作してみよう<21> マイコンカー制御プログラムです。http://www.eleki-jack.com/arm/2012/10/21.html このプログラムは次回の記事でアップされるパソコン用プログラムを使ってマイコンカーを制御するプログラムです。マイコンカーとパソコンの通信はXbeeを使っています。
Diff: main.cpp
- Revision:
- 0:6eaa311b9d3b
- Child:
- 1:8f2a9b48a9e0
diff -r 000000000000 -r 6eaa311b9d3b main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sat May 05 11:37:25 2012 +0000 @@ -0,0 +1,120 @@ +/** + * Test program. + * + * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems) + * http://shinta.main.jp/ + */ + +/* + * Include files. + */ + +#include "mbed.h" +#include "CameraC1098.h" +#include "SDFileSystem.h" + +/* + * Definitions. + */ +#define USE_JPEG_HIGH_RESOLUTION 1 +#define USE_SD_CARD 1 + +/* + * Variables. + */ +static const int CAPTURE_FRAMES = 3; +static const int RAWIMG_X = 80; +static const int RAWIMG_Y = 64; +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 + +CameraC1098 camera(p13, p14); + + +/** + * 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) { + CameraC1098::ErrorNumber err = CameraC1098::NoError; + + err = camera.sync(); + if (CameraC1098::NoError == err) { + printf("[ OK ] : CameraC1098::sync\r\n"); + } else { + printf("[FAIL] : CameraC1098::sync (Error=%02X)\r\n", (int)err); + } +} + + +/** + * A test function for jpeg snapshot picture. + */ +void test_jpeg_snapshot_picture(void) { + CameraC1098::ErrorNumber err = CameraC1098::NoError; + 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 (CameraC1098::NoError == err) { + printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n"); + } else { + printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err); + } + fclose(fp_jpeg); + } +} + +/** + * A entry point. + */ +int main() { + printf("\r\n"); + printf("==========\r\n"); + printf("CameraC1098\r\n"); + printf("==========\r\n"); + // Camera Reset + sync(); + CameraC1098::ErrorNumber err = CameraC1098::NoError; + +#if USE_JPEG_HIGH_RESOLUTION + err = camera.init(CameraC1098::Baud460800, CameraC1098::JpegResolution640x480); +#else + err = camera.init(CameraC1098::Baud460800, CameraC1098::JpegResolution320x240); +#endif + + if (CameraC1098::NoError == err) { + printf("[ OK ] : CameraC1098::init\r\n"); + } else { + printf("[FAIL] : CameraC1098::init (Error=%02X)\r\n", (int)err); + } + camera.setmbedBaud(CameraC1098::Baud460800); + + test_jpeg_snapshot_picture(); + + return 0; +}