Martin Smith / uCam

A Simple library to capture pictures from the uCam by 4D Systems

uCam.cpp@0:68395cd065e4, 2012-05-29 (annotated)

Committer:
ms523
Date:
Tue May 29 08:01:20 2012 +0000
Revision:
0:68395cd065e4
Working with external FeRAM. Will require hacking to save the data to other formats of memory

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ms523 0:68395cd065e4 1 #include "uCam.h"
ms523 0:68395cd065e4 2 #include "mbed.h"
ms523 0:68395cd065e4 3
ms523 0:68395cd065e4 4 #define DEBUG
ms523 0:68395cd065e4 5
ms523 0:68395cd065e4 6 // Set up some memory to hold the commands
ms523 0:68395cd065e4 7 const unsigned char SYNC[] = {0xAA, 0x0D, 0x00, 0x00, 0x00, 0x00};
ms523 0:68395cd065e4 8 const unsigned char ACK[] = {0xAA, 0x0E, 0x0D, 0x00, 0x00, 0x00};
ms523 0:68395cd065e4 9 const unsigned char BAUD_115200[] = {0xAA, 0x07, 0x01, 0x0F, 0x00, 0x00};
ms523 0:68395cd065e4 10 const unsigned char BAUD_737280[] = {0xAA, 0x07, 0x00, 0x04, 0x00, 0x00};
ms523 0:68395cd065e4 11 const unsigned char BAUD_921600[] = {0xAA, 0x07, 0x01, 0x01, 0x00, 0x00};
ms523 0:68395cd065e4 12 const unsigned char BAUD_1228800[] = {0xAA, 0x07, 0x02, 0x00, 0x00, 0x00};
ms523 0:68395cd065e4 13 const unsigned char GET_PICTURE[] = {0xAA, 0x04, 0x02, 0x00, 0x00, 0x00}; // take snapshot picture
ms523 0:68395cd065e4 14
ms523 0:68395cd065e4 15 int picture_size; // To track the current picture size
ms523 0:68395cd065e4 16 DigitalOut led1(LED1),led2(LED2),led3(LED3),led4(LED4);
ms523 0:68395cd065e4 17
ms523 0:68395cd065e4 18 uCam::uCam(PinName tx, PinName rx, int buffer)
ms523 0:68395cd065e4 19 : _uCam(tx,rx,buffer) {
ms523 0:68395cd065e4 20
ms523 0:68395cd065e4 21 // Set the initial baud rate
ms523 0:68395cd065e4 22 _uCam.baud(115200);
ms523 0:68395cd065e4 23 }
ms523 0:68395cd065e4 24
ms523 0:68395cd065e4 25 // Waits for an response from the uCam module and checks that a valid ACK was received
ms523 0:68395cd065e4 26 int uCam::Get_Response(unsigned char type, unsigned char command) {
ms523 0:68395cd065e4 27 // First wait for the uCam module to send the reply or timeout
ms523 0:68395cd065e4 28 // This waits for the module to become readable or timesout after 50 ms
ms523 0:68395cd065e4 29 char times = 0; // Variable to check for timeouts
ms523 0:68395cd065e4 30 do {
ms523 0:68395cd065e4 31 wait(0.001); // Wait 1 ms
ms523 0:68395cd065e4 32 times++; // Inc variable
ms523 0:68395cd065e4 33 if (_uCam.readable())
ms523 0:68395cd065e4 34 break;
ms523 0:68395cd065e4 35 } while (times < 100 );
ms523 0:68395cd065e4 36 // Check if it timed out
ms523 0:68395cd065e4 37 if (times > 99) {
ms523 0:68395cd065e4 38 printf("\n\r Response Timeout");
ms523 0:68395cd065e4 39 return(0);
ms523 0:68395cd065e4 40 }
ms523 0:68395cd065e4 41 // Get the reply from the uCam module (will be 6 bytes
ms523 0:68395cd065e4 42 unsigned char reply[6] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
ms523 0:68395cd065e4 43 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 44 reply[i] = _uCam.getc();
ms523 0:68395cd065e4 45 }
ms523 0:68395cd065e4 46 // Check reply was valid, A valid ACK should be 0xAA, 0x0E, Command ID, X, 0x00, 0x00
ms523 0:68395cd065e4 47 if (reply[0] == 0xAA && reply[1] == type && reply[2] == command && reply[4] == 0x00 && reply[5] == 0x00)
ms523 0:68395cd065e4 48 // It was an ACK so return true
ms523 0:68395cd065e4 49 return(1);
ms523 0:68395cd065e4 50 else {
ms523 0:68395cd065e4 51 // Reply was invalid so print the reply and return false
ms523 0:68395cd065e4 52 return(0);
ms523 0:68395cd065e4 53 }
ms523 0:68395cd065e4 54 }
ms523 0:68395cd065e4 55
ms523 0:68395cd065e4 56 int uCam::Sync() {
ms523 0:68395cd065e4 57 // This will give 60 attempts to sync with the uCam module
ms523 0:68395cd065e4 58 for (int i=0; i<=10; i ++) {
ms523 0:68395cd065e4 59 // Send out the sync command
ms523 0:68395cd065e4 60 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 61 _uCam.putc(SYNC[i]);
ms523 0:68395cd065e4 62 }
ms523 0:68395cd065e4 63 // Check if the response was an ACK
ms523 0:68395cd065e4 64 if (Get_Response(_ACK,SYNC[1])) {
ms523 0:68395cd065e4 65 // It was an ACK so now get the next response - it should be a sync
ms523 0:68395cd065e4 66 if (Get_Response(_SYNC,0x00)) {
ms523 0:68395cd065e4 67 // We need a small delay (1ms) from receiving the SYNC response and sending an ACK in return
ms523 0:68395cd065e4 68 wait(0.001);
ms523 0:68395cd065e4 69 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 70 _uCam.putc(ACK[i]);
ms523 0:68395cd065e4 71 }
ms523 0:68395cd065e4 72 // Everything is now complete so return true
ms523 0:68395cd065e4 73 return(1);
ms523 0:68395cd065e4 74 }
ms523 0:68395cd065e4 75 }
ms523 0:68395cd065e4 76 // Wait a while and try again
ms523 0:68395cd065e4 77 wait(0.01);
ms523 0:68395cd065e4 78 printf("\n\r Sync failed - trying again");
ms523 0:68395cd065e4 79 }
ms523 0:68395cd065e4 80 // Something went wrong so return false
ms523 0:68395cd065e4 81 return(0);
ms523 0:68395cd065e4 82 }
ms523 0:68395cd065e4 83
ms523 0:68395cd065e4 84 int uCam::SetBaud(int baud) {
ms523 0:68395cd065e4 85 // Send out the set baud command
ms523 0:68395cd065e4 86 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 87 // Select the correct data for the desired baud
ms523 0:68395cd065e4 88 if (baud == 115200)
ms523 0:68395cd065e4 89 _uCam.putc(BAUD_115200[i]);
ms523 0:68395cd065e4 90 else if (baud == 737280)
ms523 0:68395cd065e4 91 _uCam.putc(BAUD_737280[i]);
ms523 0:68395cd065e4 92 else if (baud == 921600)
ms523 0:68395cd065e4 93 _uCam.putc(BAUD_921600[i]);
ms523 0:68395cd065e4 94 else if (baud == 1228800)
ms523 0:68395cd065e4 95 _uCam.putc(BAUD_1228800[i]);
ms523 0:68395cd065e4 96 }
ms523 0:68395cd065e4 97
ms523 0:68395cd065e4 98 // Check if the response was an ACK
ms523 0:68395cd065e4 99 if (Get_Response(_ACK,0x07)) {
ms523 0:68395cd065e4 100 // An ACk was received so we can now set the mbed to the new baud rate
ms523 0:68395cd065e4 101 _uCam.baud(baud);
ms523 0:68395cd065e4 102 // New baud rate confirmed - return true
ms523 0:68395cd065e4 103 return(1);
ms523 0:68395cd065e4 104 } else
ms523 0:68395cd065e4 105 // Something went wrong - return false
ms523 0:68395cd065e4 106 return(0);
ms523 0:68395cd065e4 107 }
ms523 0:68395cd065e4 108
ms523 0:68395cd065e4 109 int uCam::Initial(unsigned char COLOUR, unsigned char RES) {
ms523 0:68395cd065e4 110 // Set up a buffer to hold the uCam response
ms523 0:68395cd065e4 111 unsigned char buf[6] = {0xAA, 0x01, 0x00, COLOUR, 0x00, 0x00};
ms523 0:68395cd065e4 112
ms523 0:68395cd065e4 113 //Amend the initial command for the type of image
ms523 0:68395cd065e4 114 if (buf[3]==0x07) {
ms523 0:68395cd065e4 115 buf[5] = RES; // The image is a JPEG so set byte 5
ms523 0:68395cd065e4 116 } else {
ms523 0:68395cd065e4 117 buf[4] = RES; // The image is RAW so set byte 4
ms523 0:68395cd065e4 118 }
ms523 0:68395cd065e4 119
ms523 0:68395cd065e4 120 // Get the number of bytes to be transferred
ms523 0:68395cd065e4 121 // Start by finding out how many bytes per pixel
ms523 0:68395cd065e4 122 if (COLOUR == GREY_8BIT || COLOUR == COLOUR_8BIT) {
ms523 0:68395cd065e4 123 picture_size = 1;
ms523 0:68395cd065e4 124 } else if (COLOUR == COLOUR_16BIT) {
ms523 0:68395cd065e4 125 picture_size = 2;
ms523 0:68395cd065e4 126 }
ms523 0:68395cd065e4 127 // Then multiply this by the number of pixels
ms523 0:68395cd065e4 128 if (RES == RAW_80x60)
ms523 0:68395cd065e4 129 picture_size = picture_size*80*60;
ms523 0:68395cd065e4 130 else if (RES == RAW_160x120)
ms523 0:68395cd065e4 131 picture_size = picture_size*160*120;
ms523 0:68395cd065e4 132 else if (RES == RAW_320x240)
ms523 0:68395cd065e4 133 picture_size = picture_size*320*240;
ms523 0:68395cd065e4 134 else if (RES == RAW_640x480)
ms523 0:68395cd065e4 135 picture_size = picture_size*640*480;
ms523 0:68395cd065e4 136 else if (RES == RAW_128x128)
ms523 0:68395cd065e4 137 picture_size = picture_size*128*128;
ms523 0:68395cd065e4 138 else if (RES == RAW_128x96)
ms523 0:68395cd065e4 139 picture_size = picture_size*128*96;
ms523 0:68395cd065e4 140
ms523 0:68395cd065e4 141 // Send out the initial command
ms523 0:68395cd065e4 142 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 143 _uCam.putc(buf[i]);
ms523 0:68395cd065e4 144 }
ms523 0:68395cd065e4 145
ms523 0:68395cd065e4 146 // Check for ACK
ms523 0:68395cd065e4 147 if (Get_Response(_ACK,0x01)) {
ms523 0:68395cd065e4 148 // An ACk was received - return true
ms523 0:68395cd065e4 149 return(1);
ms523 0:68395cd065e4 150 } else {
ms523 0:68395cd065e4 151 // Something went wrong - return false
ms523 0:68395cd065e4 152 return(0);
ms523 0:68395cd065e4 153 }
ms523 0:68395cd065e4 154 }
ms523 0:68395cd065e4 155
ms523 0:68395cd065e4 156 int uCam::Get_Picture(unsigned char *data) {
ms523 0:68395cd065e4 157
ms523 0:68395cd065e4 158 // Send out the get picture command
ms523 0:68395cd065e4 159 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 160 _uCam.putc(GET_PICTURE[i]);
ms523 0:68395cd065e4 161 }
ms523 0:68395cd065e4 162
ms523 0:68395cd065e4 163 if (!Get_Response(_ACK,0x04))
ms523 0:68395cd065e4 164 // Something went wrong
ms523 0:68395cd065e4 165 return(0);
ms523 0:68395cd065e4 166
ms523 0:68395cd065e4 167 // Get response from uCam
ms523 0:68395cd065e4 168 for (int i=0; i<picture_size; i++) {
ms523 0:68395cd065e4 169 if (_uCam.readable())
ms523 0:68395cd065e4 170 data[i] = _uCam.getc();
ms523 0:68395cd065e4 171 else {
ms523 0:68395cd065e4 172 i--;
ms523 0:68395cd065e4 173 }
ms523 0:68395cd065e4 174 }
ms523 0:68395cd065e4 175
ms523 0:68395cd065e4 176 // We need a small delay (1ms) from receiving the SYNC response and sending an ACK in return
ms523 0:68395cd065e4 177 wait(0.001);
ms523 0:68395cd065e4 178 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 179 _uCam.putc(ACK[i]);
ms523 0:68395cd065e4 180 }
ms523 0:68395cd065e4 181 // Everything is now complete so return true
ms523 0:68395cd065e4 182 return(1);
ms523 0:68395cd065e4 183 }
ms523 0:68395cd065e4 184
ms523 0:68395cd065e4 185 int uCam::Save_Picture_To_Memory(FeRAM &flash, int address) {
ms523 0:68395cd065e4 186 // Variables
ms523 0:68395cd065e4 187 unsigned char buf[6]; // Buffer to save data from uCam before its written to flash
ms523 0:68395cd065e4 188 int length; // The length of the incoing data (sent in data packet from uCam)
ms523 0:68395cd065e4 189 char binned = 0; // Escape variable to break out of function if some data isn't sent from uCam
ms523 0:68395cd065e4 190 Timer bin; // Timer to see if uCam has hung
ms523 0:68395cd065e4 191
ms523 0:68395cd065e4 192 Timer t;
ms523 0:68395cd065e4 193 t.start();
ms523 0:68395cd065e4 194
ms523 0:68395cd065e4 195 // Send out the get picture command
ms523 0:68395cd065e4 196 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 197 _uCam.putc(GET_PICTURE[i]);
ms523 0:68395cd065e4 198 }
ms523 0:68395cd065e4 199
ms523 0:68395cd065e4 200 if (!Get_Response(_ACK,0x04))
ms523 0:68395cd065e4 201 // Something went wrong
ms523 0:68395cd065e4 202 return(0);
ms523 0:68395cd065e4 203 #ifdef DEBUG
ms523 0:68395cd065e4 204 printf("\n Getting picture");
ms523 0:68395cd065e4 205 #endif
ms523 0:68395cd065e4 206 // Get the first 6 bytes
ms523 0:68395cd065e4 207 // Format 0xAA 0x0A (Data command), Data type, 3 bytes to show length
ms523 0:68395cd065e4 208 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 209 while (!_uCam.readable()) {
ms523 0:68395cd065e4 210 wait_us(1);
ms523 0:68395cd065e4 211 }
ms523 0:68395cd065e4 212 buf[i] = _uCam.getc(); // Get a byte of data
ms523 0:68395cd065e4 213 }
ms523 0:68395cd065e4 214 length = (buf[5] << 16) + (buf[4] << 8) + buf[3];
ms523 0:68395cd065e4 215
ms523 0:68395cd065e4 216 // Get response from uCam and save to flash
ms523 0:68395cd065e4 217 bin.start();
ms523 0:68395cd065e4 218 for (int i=0; i<length; i++) {
ms523 0:68395cd065e4 219 #ifdef DEBUG
ms523 0:68395cd065e4 220 // See where we are...
ms523 0:68395cd065e4 221 if (i>length/4)
ms523 0:68395cd065e4 222 led1 = 1;
ms523 0:68395cd065e4 223 if (i>length/2)
ms523 0:68395cd065e4 224 led2 = 1;
ms523 0:68395cd065e4 225 if (i>length*3/4)
ms523 0:68395cd065e4 226 led3 = 1;
ms523 0:68395cd065e4 227 #endif
ms523 0:68395cd065e4 228 // reset the timer
ms523 0:68395cd065e4 229 bin.reset();
ms523 0:68395cd065e4 230
ms523 0:68395cd065e4 231 while (!_uCam.readable()) {
ms523 0:68395cd065e4 232 #ifdef DEBUG
ms523 0:68395cd065e4 233 led4 = 1; // Turn LED on to show we're waiting
ms523 0:68395cd065e4 234 #endif
ms523 0:68395cd065e4 235 // Check to see if we have been waiting for more than 10 ms
ms523 0:68395cd065e4 236 if (bin.read() > 0.01) {
ms523 0:68395cd065e4 237 printf("\n binned at %d",i);
ms523 0:68395cd065e4 238 binned = 1;
ms523 0:68395cd065e4 239 break;
ms523 0:68395cd065e4 240 }
ms523 0:68395cd065e4 241 }
ms523 0:68395cd065e4 242 #ifdef DEBUG
ms523 0:68395cd065e4 243 led4 = 0; // Turn LED off again
ms523 0:68395cd065e4 244 #endif
ms523 0:68395cd065e4 245
ms523 0:68395cd065e4 246 // If this if statement runs than it means the uCam module has hung
ms523 0:68395cd065e4 247 if (binned) {
ms523 0:68395cd065e4 248 for (; i<length; i++) {
ms523 0:68395cd065e4 249 flash.write_byte(i + address, 0x00); // Fill the remaining bytes with 0x00
ms523 0:68395cd065e4 250 }
ms523 0:68395cd065e4 251 break; // This breaks out of the loop and writes an ACk back to uCam
ms523 0:68395cd065e4 252 }
ms523 0:68395cd065e4 253
ms523 0:68395cd065e4 254 // uCam has a byte of data ready to read - so go get it!
ms523 0:68395cd065e4 255 flash.write_byte(i + address, _uCam.getc());
ms523 0:68395cd065e4 256
ms523 0:68395cd065e4 257 }
ms523 0:68395cd065e4 258 // All data has been received so send an ACK back to the uCam module
ms523 0:68395cd065e4 259 _uCam.putc(0xAA);
ms523 0:68395cd065e4 260 _uCam.putc(0x0E);
ms523 0:68395cd065e4 261 _uCam.putc(0x0A);
ms523 0:68395cd065e4 262 _uCam.putc(0x00);
ms523 0:68395cd065e4 263 _uCam.putc(0x01);
ms523 0:68395cd065e4 264 _uCam.putc(0x00);
ms523 0:68395cd065e4 265
ms523 0:68395cd065e4 266 #ifdef DEBUG
ms523 0:68395cd065e4 267 t.stop();
ms523 0:68395cd065e4 268 //printf("\n Finished in %.3f Secs",t.read());
ms523 0:68395cd065e4 269
ms523 0:68395cd065e4 270 // Turn all the LEDs off
ms523 0:68395cd065e4 271 led1 = led2 = led3 = led4 = 0;
ms523 0:68395cd065e4 272 #endif
ms523 0:68395cd065e4 273
ms523 0:68395cd065e4 274 // Everything is now complete so return true
ms523 0:68395cd065e4 275 return(1);
ms523 0:68395cd065e4 276 }
ms523 0:68395cd065e4 277
ms523 0:68395cd065e4 278 int uCam::Save_Zoom_Picture_To_Memory(FeRAM &flash, int address){
ms523 0:68395cd065e4 279 // Variables
ms523 0:68395cd065e4 280 unsigned char buf[6]; // Buffer to save data from uCam before its written to flash
ms523 0:68395cd065e4 281 unsigned char dummy; // Byte to read in unwanted info
ms523 0:68395cd065e4 282 int length; // The length of the incoing data (sent in data packet from uCam)
ms523 0:68395cd065e4 283 int pos = 0;
ms523 0:68395cd065e4 284 char binned = 0; // Escape variable to break out of function if some data isn't sent from uCam
ms523 0:68395cd065e4 285 Timer bin; // Timer to see if uCam has hung
ms523 0:68395cd065e4 286
ms523 0:68395cd065e4 287 Timer t;
ms523 0:68395cd065e4 288 t.start();
ms523 0:68395cd065e4 289
ms523 0:68395cd065e4 290 // Send out the get picture command
ms523 0:68395cd065e4 291 #ifdef DEBUG
ms523 0:68395cd065e4 292 printf("\n\n\n\n\n\n\n\n\n\n");
ms523 0:68395cd065e4 293 #endif
ms523 0:68395cd065e4 294 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 295 _uCam.putc(GET_PICTURE[i]);
ms523 0:68395cd065e4 296 #ifdef DEBUG
ms523 0:68395cd065e4 297 printf("[%X],",GET_PICTURE[i]);
ms523 0:68395cd065e4 298 #endif
ms523 0:68395cd065e4 299 }
ms523 0:68395cd065e4 300
ms523 0:68395cd065e4 301 if (!Get_Response(_ACK,0x04))
ms523 0:68395cd065e4 302 // Something went wrong
ms523 0:68395cd065e4 303 return(0);
ms523 0:68395cd065e4 304 #ifdef DEBUG
ms523 0:68395cd065e4 305 printf("\n Getting picture \n");
ms523 0:68395cd065e4 306 #endif
ms523 0:68395cd065e4 307 // Get the first 6 bytes
ms523 0:68395cd065e4 308 // Format 0xAA 0x0A (Data command), Data type, 3 bytes to show length
ms523 0:68395cd065e4 309 for (int i=0; i<6; i++) {
ms523 0:68395cd065e4 310 while (!_uCam.readable()) {
ms523 0:68395cd065e4 311 wait_us(1);
ms523 0:68395cd065e4 312 }
ms523 0:68395cd065e4 313 buf[i] = _uCam.getc(); // Get a byte of data
ms523 0:68395cd065e4 314 printf("[%2X],",buf[i]);
ms523 0:68395cd065e4 315 }
ms523 0:68395cd065e4 316 length = (buf[5] << 16) + (buf[4] << 8) + buf[3];
ms523 0:68395cd065e4 317 #ifdef DEBUG
ms523 0:68395cd065e4 318 printf("\n Length is: %d \n[%d] [%d] [%d]",length, buf[5], buf[4], buf[3]);
ms523 0:68395cd065e4 319 #endif
ms523 0:68395cd065e4 320
ms523 0:68395cd065e4 321 // Get response from uCam and save to flash
ms523 0:68395cd065e4 322 bin.start();
ms523 0:68395cd065e4 323 for (int i=0; i<length; i++) {
ms523 0:68395cd065e4 324 #ifdef DEBUG
ms523 0:68395cd065e4 325 // See where we are...
ms523 0:68395cd065e4 326 if (i>length/4)
ms523 0:68395cd065e4 327 led1 = 1;
ms523 0:68395cd065e4 328 if (i>length/2)
ms523 0:68395cd065e4 329 led2 = 1;
ms523 0:68395cd065e4 330 if (i>length*3/4)
ms523 0:68395cd065e4 331 led3 = 1;
ms523 0:68395cd065e4 332 #endif
ms523 0:68395cd065e4 333 // reset the timer
ms523 0:68395cd065e4 334 bin.reset();
ms523 0:68395cd065e4 335
ms523 0:68395cd065e4 336 while (!_uCam.readable()) {
ms523 0:68395cd065e4 337 #ifdef DEBUG
ms523 0:68395cd065e4 338 led4 = 1; // Turn LED on to show we're waiting
ms523 0:68395cd065e4 339 #endif
ms523 0:68395cd065e4 340 // Check to see if we have been waiting for more than 10 ms
ms523 0:68395cd065e4 341 if (bin.read() > 0.01) {
ms523 0:68395cd065e4 342 printf("\n binned at %d",i);
ms523 0:68395cd065e4 343 binned = 1;
ms523 0:68395cd065e4 344 break;
ms523 0:68395cd065e4 345 }
ms523 0:68395cd065e4 346 }
ms523 0:68395cd065e4 347 #ifdef DEBUG
ms523 0:68395cd065e4 348 led4 = 0; // Turn LED off again
ms523 0:68395cd065e4 349 #endif
ms523 0:68395cd065e4 350
ms523 0:68395cd065e4 351 // If this if statement runs than it means the uCam module has hung
ms523 0:68395cd065e4 352 if (binned) {
ms523 0:68395cd065e4 353 for (; i<length; i++) {
ms523 0:68395cd065e4 354 flash.write_byte(i + address, 0x00); // Fill the remaining bytes with 0x00
ms523 0:68395cd065e4 355 }
ms523 0:68395cd065e4 356 break; // This breaks out of the loop and writes an ACk back to uCam
ms523 0:68395cd065e4 357 }
ms523 0:68395cd065e4 358
ms523 0:68395cd065e4 359 // uCam has a byte of data ready to read - so go get it!
ms523 0:68395cd065e4 360 // Need to check here if I actually want it!
ms523 0:68395cd065e4 361 if (i < 320 * 60 * 2 || i > 320 * 180 * 2) // Pixel is too high or low
ms523 0:68395cd065e4 362 dummy = _uCam.getc();
ms523 0:68395cd065e4 363 else if (i % 640 < 160) // Pixel is too left
ms523 0:68395cd065e4 364 dummy = _uCam.getc();
ms523 0:68395cd065e4 365 else if (i % 640 < 160 + 320){ // Pixel is in the centre - go get it!
ms523 0:68395cd065e4 366 flash.write_byte(pos + address, _uCam.getc());
ms523 0:68395cd065e4 367 pos++;
ms523 0:68395cd065e4 368 } else // Pixel is too right
ms523 0:68395cd065e4 369 dummy = _uCam.getc();
ms523 0:68395cd065e4 370
ms523 0:68395cd065e4 371
ms523 0:68395cd065e4 372 }
ms523 0:68395cd065e4 373 // All data has been received so send an ACK back to the uCam module
ms523 0:68395cd065e4 374 _uCam.putc(0xAA);
ms523 0:68395cd065e4 375 _uCam.putc(0x0E);
ms523 0:68395cd065e4 376 _uCam.putc(0x0A);
ms523 0:68395cd065e4 377 _uCam.putc(0x00);
ms523 0:68395cd065e4 378 _uCam.putc(0x01);
ms523 0:68395cd065e4 379 _uCam.putc(0x00);
ms523 0:68395cd065e4 380
ms523 0:68395cd065e4 381 #ifdef DEBUG
ms523 0:68395cd065e4 382 t.stop();
ms523 0:68395cd065e4 383 //printf("\n Finished in %.3f Secs",t.read());
ms523 0:68395cd065e4 384
ms523 0:68395cd065e4 385 // Turn all the LEDs off
ms523 0:68395cd065e4 386 led1 = led2 = led3 = led4 = 0;
ms523 0:68395cd065e4 387 #endif
ms523 0:68395cd065e4 388
ms523 0:68395cd065e4 389 // Everything is now complete so return true
ms523 0:68395cd065e4 390 return(1);
ms523 0:68395cd065e4 391 }