Revision 2:686c7043f5f4, committed 2017-07-19

Comitter:

hepta2ume

Date:

Wed Jul 19 09:20:37 2017 +0000

Parent:

1:d16a4c3a272a

Child:

3:12659e671bad

Commit message:

Hepta;

Changed in this revision

--- a/CameraC1098.cpp	Wed Jul 19 09:07:30 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,675 +0,0 @@
-#include "CameraC1098.h"
-static FILE *fp_jpeg;
-#define WAITIDLE    waitIdle
-#define SENDFUNC    sendBytes
-#define RECVFUNC    recvBytes
-#define WAITFUNC    waitRecv
-int num=0;
-/**
- * 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()
-{
-    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.
-         */
-        size_t siz = ds;
-        for (int ii = 0; ii < (int)siz; ii++) {
-            fprintf(fp_jpeg, "%c", databuf[ii]);
-        }
-        /*
-         * 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::getJpegSnapshotPicture_data()
-{
-    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.
-         */
-        size_t siz = ds;
-        for (int ii = 0; ii < (int)siz; ii++) {
-            fprintf(fp_jpeg, "%02X ", databuf[ii]);
-            if(++num%16==0) fprintf(fp_jpeg,"\r\n");
-        }
-        /*
-         * 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;
-}
-
-void CameraC1098::Sync(void)
-{
-    CameraC1098::ErrorNumber err = CameraC1098::NoError;
-    setmbedBaud(CameraC1098::Baud14400);
-    err = sync();
-    setmbedBaud(CameraC1098::Baud115200);
-    if (CameraC1098::NoError == err) {
-        printf("[ OK ] : CameraC1098::sync\r\n");
-    } else {
-        printf("[FAIL] : CameraC1098::sync (Error=%02X)\r\n", (int)err);
-    }
-}
-
-void CameraC1098::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/test%d.jpg", i);
-        fp_jpeg = fopen(fname, "w");
-
-        err = getJpegSnapshotPicture();
-
-        if (CameraC1098::NoError == err) {
-            printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n");
-        } else {
-            printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
-        }
-        fclose(fp_jpeg);
-    }
-}
-
-void CameraC1098::test_jpeg_snapshot_data(void)
-{
-    CameraC1098::ErrorNumber err = CameraC1098::NoError;
-    for (int i = 0; i < CAPTURE_FRAMES; i++) {
-        char fname[64];
-        snprintf(fname, sizeof(fname), "/fs/test%d.txt", i);
-        fp_jpeg = fopen(fname, "w");
-
-        err = getJpegSnapshotPicture_data();
-
-        if (CameraC1098::NoError == err) {
-            printf("[ OK ] : CameraC1098::getJpegSnapshotPicture\r\n");
-        } else {
-            printf("[FAIL] : CameraC1098::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
-        }
-        fclose(fp_jpeg);
-    }
-}
-
-void CameraC1098::initialize(Baud baud,JpegResolution jr)
-{
-    CameraC1098::ErrorNumber err = CameraC1098::NoError;//ErrorNumber define
-    err = init(baud, jr);//
-
-    if (CameraC1098::NoError == err) {
-        printf("[ OK ] : CameraC1098::init\r\n");
-    } else {
-        printf("[FAIL] : CameraC1098::init (Error=%02X)\r\n", (int)err);
-    }
-
-}
\ No newline at end of file

--- a/CameraC1098.h	Wed Jul 19 09:07:30 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,140 +0,0 @@
-/**
- * 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();
-    ErrorNumber getJpegSnapshotPicture_data();
-
-    /** setmbedBaud
-     *  mbed Interface Speed.
-     *
-     *  @param baud mbed Interface Speed.
-     */
-    void setmbedBaud(Baud baud);
-    void Sync(void);
-    void initialize(Baud baud,JpegResolution jr);
-    void test_jpeg_snapshot_picture(void);
-    void test_jpeg_snapshot_data(void);
-    void jpeg_callback(char *buf, size_t siz);
-private:
-    SerialBuffered serial;
-    static const int COMMAND_LENGTH = 6;
-    static const int SYNCMAX = 60;
-    static const int packageSize = 256;
-    static const int CAPTURE_FRAMES = 3;
-    
-    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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HeptaSerial.cpp	Wed Jul 19 09:20:37 2017 +0000
@@ -0,0 +1,675 @@
+#include "HeptaSerial.h"
+static FILE *fp_jpeg;
+#define WAITIDLE    waitIdle
+#define SENDFUNC    sendBytes
+#define RECVFUNC    recvBytes
+#define WAITFUNC    waitRecv
+int num=0;
+/**
+ * Constructor.
+ *
+ * @param tx A pin for transmit.
+ * @param rx A pin for receive.
+ * @param baud Baud rate. (Default is Baud14400.)
+ */
+HeptaSerial::HeptaSerial(PinName tx, PinName rx, int baud) : serial(tx, rx)
+{
+    serial.baud(baud);
+}
+
+/**
+ * Destructor.
+ */
+HeptaSerial::~HeptaSerial()
+{
+}
+
+/**
+ * Make a sync. for baud rate.
+ */
+HeptaSerial::ErrorNumber HeptaSerial::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.
+ */
+HeptaSerial::ErrorNumber HeptaSerial::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.
+ */
+HeptaSerial::ErrorNumber HeptaSerial::getJpegSnapshotPicture()
+{
+    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.
+         */
+        size_t siz = ds;
+        for (int ii = 0; ii < (int)siz; ii++) {
+            fprintf(fp_jpeg, "%c", databuf[ii]);
+        }
+        /*
+         * 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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::getJpegSnapshotPicture_data()
+{
+    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.
+         */
+        size_t siz = ds;
+        for (int ii = 0; ii < (int)siz; ii++) {
+            fprintf(fp_jpeg, "%02X ", databuf[ii]);
+            if(++num%16==0) fprintf(fp_jpeg,"\r\n");
+        }
+        /*
+         * 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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::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 HeptaSerial::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);
+    }
+}
+
+
+HeptaSerial::ErrorNumber HeptaSerial::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;
+}
+
+
+HeptaSerial::ErrorNumber HeptaSerial::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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::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;
+}
+
+HeptaSerial::ErrorNumber HeptaSerial::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.
+ */
+HeptaSerial::ErrorNumber HeptaSerial::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.
+ */
+HeptaSerial::ErrorNumber HeptaSerial::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 HeptaSerial::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 HeptaSerial::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 HeptaSerial::waitRecv()
+{
+    while (!serial.readable()) {
+    }
+    return true;
+}
+
+/**
+ * Wait idle state.
+ */
+bool HeptaSerial::waitIdle()
+{
+    while (serial.readable()) {
+        serial.getc();
+    }
+    return true;
+}
+
+void HeptaSerial::Sync(void)
+{
+    HeptaSerial::ErrorNumber err = HeptaSerial::NoError;
+    setmbedBaud(HeptaSerial::Baud14400);
+    err = sync();
+    setmbedBaud(HeptaSerial::Baud115200);
+    if (HeptaSerial::NoError == err) {
+        printf("[ OK ] : Camera::sync\r\n");
+    } else {
+        printf("[FAIL] : Camera::sync (Error=%02X)\r\n", (int)err);
+    }
+}
+
+void HeptaSerial::test_jpeg_snapshot_picture(void)
+{
+    HeptaSerial::ErrorNumber err = HeptaSerial::NoError;
+    for (int i = 0; i < CAPTURE_FRAMES; i++) {
+        char fname[64];
+        snprintf(fname, sizeof(fname), "/fs/test%d.jpg", i);
+        fp_jpeg = fopen(fname, "w");
+
+        err = getJpegSnapshotPicture();
+
+        if (HeptaSerial::NoError == err) {
+            printf("[ OK ] : Camera::getJpegSnapshotPicture\r\n");
+        } else {
+            printf("[FAIL] : Camera::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
+        }
+        fclose(fp_jpeg);
+    }
+}
+
+void HeptaSerial::test_jpeg_snapshot_data(void)
+{
+    HeptaSerial::ErrorNumber err = HeptaSerial::NoError;
+    for (int i = 0; i < CAPTURE_FRAMES; i++) {
+        char fname[64];
+        snprintf(fname, sizeof(fname), "/fs/test%d.txt", i);
+        fp_jpeg = fopen(fname, "w");
+
+        err = getJpegSnapshotPicture_data();
+
+        if (HeptaSerial::NoError == err) {
+            printf("[ OK ] : Camera::getJpegSnapshotPicture\r\n");
+        } else {
+            printf("[FAIL] : Camera::getJpegSnapshotPicture (Error=%02X)\r\n", (int)err);
+        }
+        fclose(fp_jpeg);
+    }
+}
+
+void HeptaSerial::initialize(Baud baud,JpegResolution jr)
+{
+    HeptaSerial::ErrorNumber err = HeptaSerial::NoError;//ErrorNumber define
+    err = init(baud, jr);//
+
+    if (HeptaSerial::NoError == err) {
+        printf("[ OK ] : Camera::init\r\n");
+    } else {
+        printf("[FAIL] : Camera::init (Error=%02X)\r\n", (int)err);
+    }
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HeptaSerial.h	Wed Jul 19 09:20:37 2017 +0000
@@ -0,0 +1,140 @@
+/**
+ * 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 HEPTA_SERIAL_H
+#define HEPTA_SERIAL_H
+
+/*
+ * Class: HeptaSerial
+ */
+ 
+class HeptaSerial {
+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.)
+     */
+    HeptaSerial(PinName tx, PinName rx, int baud = 14400);
+
+    /** Destructor.
+     * 
+     */
+    ~HeptaSerial();
+
+    /** 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();
+    ErrorNumber getJpegSnapshotPicture_data();
+
+    /** setmbedBaud
+     *  mbed Interface Speed.
+     *
+     *  @param baud mbed Interface Speed.
+     */
+    void setmbedBaud(Baud baud);
+    void Sync(void);
+    void initialize(Baud baud,JpegResolution jr);
+    void test_jpeg_snapshot_picture(void);
+    void test_jpeg_snapshot_data(void);
+    void jpeg_callback(char *buf, size_t siz);
+private:
+    SerialBuffered serial;
+    static const int COMMAND_LENGTH = 6;
+    static const int SYNCMAX = 60;
+    static const int packageSize = 256;
+    static const int CAPTURE_FRAMES = 3;
+    
+    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