Diff: HeptaCamera_GPS.h

Revision:

8:6d9c33df4c09

--- /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