Ivan Stoev
Dependents: 3daf572bcae1 Team Team01_HEPTA_Trainig
Fork of HeptaCamera_GPS by
Diff: HeptaCamera_GPS.h
- Revision:
- 8:6d9c33df4c09
- Child:
- 11:7230a20e8992
- Child:
- 17:a30fa71eddb7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HeptaCamera_GPS.h Wed Aug 23 06:18:42 2017 +0000 @@ -0,0 +1,107 @@ +#include "mbed.h" +#include "SerialBuffered.h" + +#ifndef HEPTA_SERIAL_H +#define HEPTA_SERIAL_H + +class HeptaCamera_GPS +{ +public: + + enum JpegResolution { + JpegResolution80x64 = 0x01, // unofficial + JpegResolution160x128 = 0x03, // unofficial + JpegResolution320x240 = 0x05, // QVGA + JpegResolution640x480 = 0x07 // VGA + }; + + enum ErrorNumber { + NoError = 0x00, + UnexpectedReply = 0x04, + ParameterError = 0x0b, + SendRegisterTimeout = 0x0c, + CommandIdError = 0x0d, + CommandHeaderError = 0xf0, + SetTransferPackageSizeWrong = 0x11 + }; + + enum Baud { + Baud460800 = 0x02, + Baud230400 = 0x03, + Baud115200 = 0x04, + Baud57600 = 0x05, + Baud28800 = 0x06, + Baud14400 = 0x07 // Default. + }; + + enum ResetType { + Nomal = 0x00, + High = 0xff + }; + + HeptaCamera_GPS(PinName tx, PinName rx, PinName CAM, PinName GPS); + + ~HeptaCamera_GPS(); + + ErrorNumber sync(); + ErrorNumber init(Baud baud, JpegResolution jr); + ErrorNumber getJpegSnapshotPicture(); + ErrorNumber getJpegSnapshotPicture_data(); + void setmbedBaud(Baud baud); + void camera_setting(void); + void Sync(void); + void initialize(Baud baud,JpegResolution jr); + void test_jpeg_snapshot_picture(int CAPTURE_FRAMES); + void test_jpeg_snapshot_data(int CAPTURE_FRAMES); + void jpeg_callback(char *buf, size_t siz); + void gps_setting(void); + char getc(); + int readable(); + void flushSerialBuffer(void); + void gga_sensing(float *time, float *latitude, char *ns, float *longitude, char *ew, int *quality, int *stnum, float *hacu, float *altitude, char *aunit, int *gps_check); + void lat_log_sensing_u16(char *lat, char *log, char * height, int *dsize1, int *dsize2); + +private: + SerialBuffered serial; + DigitalOut CAM_SW; + DigitalOut GPS_SW; + static const int COMMAND_LENGTH = 6; + static const int SYNCMAX = 60; + static const int packageSize = 256; + //static const int CAPTURE_FRAMES = 3; + + char msg[256],msgd[256]; + int i,ite,rlock,stn; + int _quality,_stnum; + float _hacu; + float _altitude; + char _aunit; + int _gps_check; + + char c; + char gps_data[7][1000]; + char ns,ew,statas; + float time,hokui,tokei,vel; + float g_hokui,g_tokei; + float d_hokui,m_hokui,d_tokei,m_tokei; + int h_time,m_time,s_time; + float height_1; + int m_height,cm_height; + + 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