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| shintamainjp |
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/**
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| shintamainjp |
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* C328-7640 device driver class (Version 0.0.4)
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| shintamainjp |
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* Reference documents: C328-7640 User Manual v3.0 2004.8.19
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| shintamainjp |
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*
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| shintamainjp |
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* Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
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| shintamainjp |
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* http://shinta.main.jp/
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| shintamainjp |
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*/
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| shintamainjp |
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#include "CameraC328.h"
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| shintamainjp |
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| shintamainjp |
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#define SENDFUNC sendBytes
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| shintamainjp |
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#define RECVFUNC recvBytes
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| shintamainjp |
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#define WAITFUNC waitRecv
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| shintamainjp |
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| shintamainjp |
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CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
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| shintamainjp |
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serial.baud((int)baud);
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}
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CameraC328::~CameraC328() {
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| shintamainjp |
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}
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| shintamainjp |
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CameraC328::ErrorNumber CameraC328::sync() {
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| shintamainjp |
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for (int i = 0; i < SYNCMAX; i++) {
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| shintamainjp |
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if (NoError == sendSync()) {
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| shintamainjp |
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if (NoError == recvAckOrNck()) {
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| shintamainjp |
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if (NoError == recvSync()) {
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| shintamainjp |
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if (NoError == sendAck(0x0D, 0x00)) {
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| shintamainjp |
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/*
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| shintamainjp |
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* After synchronization, the camera needs a little time for AEC and AGC to be stable.
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| shintamainjp |
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* Users should wait for 1-2 seconds before capturing the first picture.
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| shintamainjp |
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*/
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| shintamainjp |
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wait(2);
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| shintamainjp |
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return NoError;
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| shintamainjp |
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}
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}
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}
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}
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| shintamainjp |
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wait_ms(50);
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| shintamainjp |
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}
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| shintamainjp |
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return UnexpectedReply;
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| shintamainjp |
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}
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CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
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| shintamainjp |
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ErrorNumber en;
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| shintamainjp |
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en = sendInitial(ct, rr, jr);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvAckOrNck();
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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static bool alreadySetupPackageSize = false;
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| shintamainjp |
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if (!alreadySetupPackageSize) {
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| shintamainjp |
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en = sendSetPackageSize(packageSize);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvAckOrNck();
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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alreadySetupPackageSize = true;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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return (ErrorNumber)NoError;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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/**
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| shintamainjp |
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* Get uncompressed snapshot picture.
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| shintamainjp |
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*
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| shintamainjp |
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* @param func Pointer to a callback function.
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| shintamainjp |
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* @return Status of the error.
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| shintamainjp |
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*/
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| shintamainjp |
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CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
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| shintamainjp |
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ErrorNumber en;
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| shintamainjp |
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81
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| shintamainjp |
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en = sendSnapshot(UncompressedPicture, 0);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvAckOrNck();
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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en = sendGetPicture(SnapshotPicture);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvAckOrNck();
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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| shintamainjp |
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/*
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| shintamainjp |
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* image data
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| shintamainjp |
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*/
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| shintamainjp |
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DataType dt;
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| shintamainjp |
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uint32_t length = 0;
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| shintamainjp |
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WAITFUNC();
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| shintamainjp |
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en = recvData(&dt, &length);
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| shintamainjp |
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if (NoError != en) {
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| shintamainjp |
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return en;
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| shintamainjp |
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}
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| shintamainjp |
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size_t imgcnt = 0;
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| shintamainjp |
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for (int i = 0; i < (int)length; i++) {
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| shintamainjp |
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char c;
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| shintamainjp |
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115
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WAITFUNC();
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| shintamainjp |
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if (!RECVFUNC(&c, 1)) {
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| shintamainjp |
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return (ErrorNumber)UnexpectedReply;
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| shintamainjp |
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118
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}
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| shintamainjp |
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119
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imgcnt++;
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| shintamainjp |
12:4daa8c068bc5
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120
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| shintamainjp |
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121
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/*
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| shintamainjp |
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122
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* Call a call back function.
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| shintamainjp |
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123
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* Please do not block this function.
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| shintamainjp |
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124
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*/
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| shintamainjp |
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func(imgcnt, length, c);
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| shintamainjp |
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126
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}
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| shintamainjp |
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|
127
|
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| shintamainjp |
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128
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/*
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| shintamainjp |
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129
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* ACK
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| shintamainjp |
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130
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*/
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| shintamainjp |
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en = sendAck(0x0A, 0x00);
|
| shintamainjp |
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|
132
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
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133
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return en;
|
| shintamainjp |
3:6d3150d4396a
|
134
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}
|
| shintamainjp |
3:6d3150d4396a
|
135
|
|
| shintamainjp |
3:6d3150d4396a
|
136
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return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
137
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}
|
| shintamainjp |
3:6d3150d4396a
|
138
|
|
| shintamainjp |
3:6d3150d4396a
|
139
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/**
|
| shintamainjp |
4:ad06342d4b84
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140
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* Get uncompressed preview picture.
|
| shintamainjp |
3:6d3150d4396a
|
141
|
*
|
| shintamainjp |
3:6d3150d4396a
|
142
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* @param func Pointer to a callback function.
|
| shintamainjp |
3:6d3150d4396a
|
143
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* @return Status of the error.
|
| shintamainjp |
3:6d3150d4396a
|
144
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
145
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CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
|
| shintamainjp |
3:6d3150d4396a
|
146
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ErrorNumber en;
|
| shintamainjp |
3:6d3150d4396a
|
147
|
|
| shintamainjp |
3:6d3150d4396a
|
148
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en = sendGetPicture(PreviewPicture);
|
| shintamainjp |
3:6d3150d4396a
|
149
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
150
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return en;
|
| shintamainjp |
3:6d3150d4396a
|
151
|
}
|
| shintamainjp |
3:6d3150d4396a
|
152
|
WAITFUNC();
|
| shintamainjp |
3:6d3150d4396a
|
153
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en = recvAckOrNck();
|
| shintamainjp |
3:6d3150d4396a
|
154
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
155
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return en;
|
| shintamainjp |
3:6d3150d4396a
|
156
|
}
|
| shintamainjp |
3:6d3150d4396a
|
157
|
|
| shintamainjp |
3:6d3150d4396a
|
158
|
/*
|
| shintamainjp |
3:6d3150d4396a
|
159
|
* image data
|
| shintamainjp |
3:6d3150d4396a
|
160
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
161
|
DataType dt;
|
| shintamainjp |
3:6d3150d4396a
|
162
|
uint32_t length = 0;
|
| shintamainjp |
3:6d3150d4396a
|
163
|
WAITFUNC();
|
| shintamainjp |
3:6d3150d4396a
|
164
|
en = recvData(&dt, &length);
|
| shintamainjp |
3:6d3150d4396a
|
165
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
166
|
return en;
|
| shintamainjp |
3:6d3150d4396a
|
167
|
}
|
| shintamainjp |
3:6d3150d4396a
|
168
|
size_t imgcnt = 0;
|
| shintamainjp |
3:6d3150d4396a
|
169
|
for (int i = 0; i < (int)length; i++) {
|
| shintamainjp |
3:6d3150d4396a
|
170
|
char c;
|
| shintamainjp |
3:6d3150d4396a
|
171
|
WAITFUNC();
|
| shintamainjp |
3:6d3150d4396a
|
172
|
if (!RECVFUNC(&c, 1)) {
|
| shintamainjp |
3:6d3150d4396a
|
173
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
174
|
}
|
| shintamainjp |
3:6d3150d4396a
|
175
|
imgcnt++;
|
| shintamainjp |
12:4daa8c068bc5
|
176
|
|
| shintamainjp |
12:4daa8c068bc5
|
177
|
/*
|
| shintamainjp |
12:4daa8c068bc5
|
178
|
* Call a call back function.
|
| shintamainjp |
12:4daa8c068bc5
|
179
|
* Please do not block this function.
|
| shintamainjp |
12:4daa8c068bc5
|
180
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
181
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func(imgcnt, length, c);
|
| shintamainjp |
3:6d3150d4396a
|
182
|
}
|
| shintamainjp |
3:6d3150d4396a
|
183
|
|
| shintamainjp |
3:6d3150d4396a
|
184
|
/*
|
| shintamainjp |
3:6d3150d4396a
|
185
|
* ACK
|
| shintamainjp |
3:6d3150d4396a
|
186
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
187
|
en = sendAck(0x0A, 0x00);
|
| shintamainjp |
3:6d3150d4396a
|
188
|
if (NoError != en) {
|
| shintamainjp |
3:6d3150d4396a
|
189
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return en;
|
| shintamainjp |
3:6d3150d4396a
|
190
|
}
|
| shintamainjp |
3:6d3150d4396a
|
191
|
|
| shintamainjp |
3:6d3150d4396a
|
192
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
193
|
}
|
| shintamainjp |
3:6d3150d4396a
|
194
|
|
| shintamainjp |
4:ad06342d4b84
|
195
|
/**
|
| shintamainjp |
4:ad06342d4b84
|
196
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* Get JPEG snapshot picture.
|
| shintamainjp |
4:ad06342d4b84
|
197
|
*
|
| shintamainjp |
4:ad06342d4b84
|
198
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* @param func Pointer to a callback function.
|
| shintamainjp |
4:ad06342d4b84
|
199
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* @return Status of the error.
|
| shintamainjp |
4:ad06342d4b84
|
200
|
*/
|
| shintamainjp |
4:ad06342d4b84
|
201
|
CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
|
| shintamainjp |
4:ad06342d4b84
|
202
|
|
| shintamainjp |
4:ad06342d4b84
|
203
|
ErrorNumber en;
|
| shintamainjp |
4:ad06342d4b84
|
204
|
|
| shintamainjp |
4:ad06342d4b84
|
205
|
en = sendSnapshot(CompressedPicture, 1);
|
| shintamainjp |
4:ad06342d4b84
|
206
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
207
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
208
|
}
|
| shintamainjp |
4:ad06342d4b84
|
209
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
210
|
en = recvAckOrNck();
|
| shintamainjp |
4:ad06342d4b84
|
211
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
212
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
213
|
}
|
| shintamainjp |
4:ad06342d4b84
|
214
|
|
| shintamainjp |
4:ad06342d4b84
|
215
|
en = sendGetPicture(SnapshotPicture);
|
| shintamainjp |
4:ad06342d4b84
|
216
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
217
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
218
|
}
|
| shintamainjp |
4:ad06342d4b84
|
219
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
220
|
en = recvAckOrNck();
|
| shintamainjp |
4:ad06342d4b84
|
221
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
222
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
223
|
}
|
| shintamainjp |
4:ad06342d4b84
|
224
|
|
| shintamainjp |
4:ad06342d4b84
|
225
|
/*
|
| shintamainjp |
4:ad06342d4b84
|
226
|
* Data : snapshot picture
|
| shintamainjp |
4:ad06342d4b84
|
227
|
*/
|
| shintamainjp |
4:ad06342d4b84
|
228
|
DataType dt;
|
| shintamainjp |
4:ad06342d4b84
|
229
|
uint32_t length = 0;
|
| shintamainjp |
4:ad06342d4b84
|
230
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
231
|
en = recvData(&dt, &length);
|
| shintamainjp |
4:ad06342d4b84
|
232
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
233
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
234
|
}
|
| shintamainjp |
4:ad06342d4b84
|
235
|
en = sendAck(0x00, 0);
|
| shintamainjp |
4:ad06342d4b84
|
236
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
237
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
238
|
}
|
| shintamainjp |
4:ad06342d4b84
|
239
|
|
| shintamainjp |
4:ad06342d4b84
|
240
|
char databuf[packageSize - 6];
|
| shintamainjp |
4:ad06342d4b84
|
241
|
uint16_t pkg_total = length / (packageSize - 6);
|
| shintamainjp |
4:ad06342d4b84
|
242
|
for (int i = 0; i <= (int)pkg_total; i++) {
|
| shintamainjp |
4:ad06342d4b84
|
243
|
uint16_t checksum = 0;
|
| shintamainjp |
4:ad06342d4b84
|
244
|
// ID.
|
| shintamainjp |
4:ad06342d4b84
|
245
|
char idbuf[2];
|
| shintamainjp |
10:b04f3444b794
|
246
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
247
|
if (!RECVFUNC(idbuf, sizeof(idbuf))) {
|
| shintamainjp |
4:ad06342d4b84
|
248
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
249
|
}
|
| shintamainjp |
4:ad06342d4b84
|
250
|
checksum += idbuf[0];
|
| shintamainjp |
4:ad06342d4b84
|
251
|
checksum += idbuf[1];
|
| shintamainjp |
4:ad06342d4b84
|
252
|
uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
|
| shintamainjp |
4:ad06342d4b84
|
253
|
if (id != i) {
|
| shintamainjp |
4:ad06342d4b84
|
254
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
255
|
}
|
| shintamainjp |
4:ad06342d4b84
|
256
|
|
| shintamainjp |
4:ad06342d4b84
|
257
|
// Size of the data.
|
| shintamainjp |
4:ad06342d4b84
|
258
|
char dsbuf[2];
|
| shintamainjp |
10:b04f3444b794
|
259
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
260
|
if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
|
| shintamainjp |
4:ad06342d4b84
|
261
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
262
|
}
|
| shintamainjp |
4:ad06342d4b84
|
263
|
|
| shintamainjp |
4:ad06342d4b84
|
264
|
// Received the data.
|
| shintamainjp |
4:ad06342d4b84
|
265
|
checksum += dsbuf[0];
|
| shintamainjp |
4:ad06342d4b84
|
266
|
checksum += dsbuf[1];
|
| shintamainjp |
4:ad06342d4b84
|
267
|
uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
|
| shintamainjp |
10:b04f3444b794
|
268
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
269
|
if (!RECVFUNC(&databuf[0], ds)) {
|
| shintamainjp |
4:ad06342d4b84
|
270
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
271
|
}
|
| shintamainjp |
4:ad06342d4b84
|
272
|
for (int j = 0; j < ds; j++) {
|
| shintamainjp |
4:ad06342d4b84
|
273
|
checksum += databuf[j];
|
| shintamainjp |
4:ad06342d4b84
|
274
|
}
|
| shintamainjp |
4:ad06342d4b84
|
275
|
|
| shintamainjp |
4:ad06342d4b84
|
276
|
// Verify code.
|
| shintamainjp |
4:ad06342d4b84
|
277
|
char vcbuf[2];
|
| shintamainjp |
10:b04f3444b794
|
278
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
279
|
if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
|
| shintamainjp |
4:ad06342d4b84
|
280
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
281
|
}
|
| shintamainjp |
4:ad06342d4b84
|
282
|
uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
|
| shintamainjp |
4:ad06342d4b84
|
283
|
if (vc != (checksum & 0xff)) {
|
| shintamainjp |
4:ad06342d4b84
|
284
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
285
|
}
|
| shintamainjp |
4:ad06342d4b84
|
286
|
|
| shintamainjp |
12:4daa8c068bc5
|
287
|
/*
|
| shintamainjp |
12:4daa8c068bc5
|
288
|
* Call a call back function.
|
| shintamainjp |
12:4daa8c068bc5
|
289
|
* You can block this function while working.
|
| shintamainjp |
12:4daa8c068bc5
|
290
|
*/
|
| shintamainjp |
4:ad06342d4b84
|
291
|
func(databuf, ds);
|
| shintamainjp |
4:ad06342d4b84
|
292
|
|
| shintamainjp |
12:4daa8c068bc5
|
293
|
/*
|
| shintamainjp |
12:4daa8c068bc5
|
294
|
* We should wait for camera working before reply a ACK.
|
| shintamainjp |
12:4daa8c068bc5
|
295
|
*/
|
| shintamainjp |
12:4daa8c068bc5
|
296
|
wait_ms(100);
|
| shintamainjp |
4:ad06342d4b84
|
297
|
en = sendAck(0x00, 1 + i);
|
| shintamainjp |
4:ad06342d4b84
|
298
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
299
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
300
|
}
|
| shintamainjp |
4:ad06342d4b84
|
301
|
}
|
| shintamainjp |
4:ad06342d4b84
|
302
|
|
| shintamainjp |
4:ad06342d4b84
|
303
|
return (ErrorNumber)NoError;
|
| shintamainjp |
4:ad06342d4b84
|
304
|
}
|
| shintamainjp |
4:ad06342d4b84
|
305
|
|
| shintamainjp |
4:ad06342d4b84
|
306
|
/**
|
| shintamainjp |
4:ad06342d4b84
|
307
|
* Get JPEG preview picture.
|
| shintamainjp |
4:ad06342d4b84
|
308
|
*
|
| shintamainjp |
4:ad06342d4b84
|
309
|
* @param func Pointer to a callback function.
|
| shintamainjp |
4:ad06342d4b84
|
310
|
* @return Status of the error.
|
| shintamainjp |
4:ad06342d4b84
|
311
|
*/
|
| shintamainjp |
4:ad06342d4b84
|
312
|
CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) {
|
| shintamainjp |
4:ad06342d4b84
|
313
|
|
| shintamainjp |
4:ad06342d4b84
|
314
|
ErrorNumber en;
|
| shintamainjp |
4:ad06342d4b84
|
315
|
|
| shintamainjp |
4:ad06342d4b84
|
316
|
en = sendGetPicture(JpegPreviewPicture);
|
| shintamainjp |
4:ad06342d4b84
|
317
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
318
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
319
|
}
|
| shintamainjp |
4:ad06342d4b84
|
320
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
321
|
en = recvAckOrNck();
|
| shintamainjp |
4:ad06342d4b84
|
322
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
323
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
324
|
}
|
| shintamainjp |
4:ad06342d4b84
|
325
|
|
| shintamainjp |
4:ad06342d4b84
|
326
|
/*
|
| shintamainjp |
4:ad06342d4b84
|
327
|
* Data : JPEG preview picture
|
| shintamainjp |
4:ad06342d4b84
|
328
|
*/
|
| shintamainjp |
4:ad06342d4b84
|
329
|
DataType dt;
|
| shintamainjp |
4:ad06342d4b84
|
330
|
uint32_t length = 0;
|
| shintamainjp |
4:ad06342d4b84
|
331
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
332
|
en = recvData(&dt, &length);
|
| shintamainjp |
4:ad06342d4b84
|
333
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
334
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
335
|
}
|
| shintamainjp |
4:ad06342d4b84
|
336
|
en = sendAck(0x00, 0);
|
| shintamainjp |
4:ad06342d4b84
|
337
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
338
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
339
|
}
|
| shintamainjp |
4:ad06342d4b84
|
340
|
|
| shintamainjp |
4:ad06342d4b84
|
341
|
char databuf[packageSize - 6];
|
| shintamainjp |
4:ad06342d4b84
|
342
|
uint16_t pkg_total = length / (packageSize - 6);
|
| shintamainjp |
4:ad06342d4b84
|
343
|
for (int i = 0; i <= (int)pkg_total; i++) {
|
| shintamainjp |
4:ad06342d4b84
|
344
|
uint16_t checksum = 0;
|
| shintamainjp |
4:ad06342d4b84
|
345
|
// ID.
|
| shintamainjp |
4:ad06342d4b84
|
346
|
char idbuf[2];
|
| shintamainjp |
10:b04f3444b794
|
347
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
348
|
if (!RECVFUNC(idbuf, sizeof(idbuf))) {
|
| shintamainjp |
4:ad06342d4b84
|
349
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
350
|
}
|
| shintamainjp |
4:ad06342d4b84
|
351
|
checksum += idbuf[0];
|
| shintamainjp |
4:ad06342d4b84
|
352
|
checksum += idbuf[1];
|
| shintamainjp |
4:ad06342d4b84
|
353
|
uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
|
| shintamainjp |
4:ad06342d4b84
|
354
|
if (id != i) {
|
| shintamainjp |
4:ad06342d4b84
|
355
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
356
|
}
|
| shintamainjp |
4:ad06342d4b84
|
357
|
|
| shintamainjp |
4:ad06342d4b84
|
358
|
// Size of the data.
|
| shintamainjp |
4:ad06342d4b84
|
359
|
char dsbuf[2];
|
| shintamainjp |
10:b04f3444b794
|
360
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
361
|
if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
|
| shintamainjp |
4:ad06342d4b84
|
362
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
363
|
}
|
| shintamainjp |
4:ad06342d4b84
|
364
|
|
| shintamainjp |
4:ad06342d4b84
|
365
|
// Received the data.
|
| shintamainjp |
4:ad06342d4b84
|
366
|
checksum += dsbuf[0];
|
| shintamainjp |
4:ad06342d4b84
|
367
|
checksum += dsbuf[1];
|
| shintamainjp |
4:ad06342d4b84
|
368
|
uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
|
| shintamainjp |
10:b04f3444b794
|
369
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
370
|
if (!RECVFUNC(&databuf[0], ds)) {
|
| shintamainjp |
4:ad06342d4b84
|
371
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
372
|
}
|
| shintamainjp |
4:ad06342d4b84
|
373
|
for (int j = 0; j < ds; j++) {
|
| shintamainjp |
4:ad06342d4b84
|
374
|
checksum += databuf[j];
|
| shintamainjp |
4:ad06342d4b84
|
375
|
}
|
| shintamainjp |
4:ad06342d4b84
|
376
|
|
| shintamainjp |
4:ad06342d4b84
|
377
|
// Verify code.
|
| shintamainjp |
4:ad06342d4b84
|
378
|
char vcbuf[2];
|
| shintamainjp |
10:b04f3444b794
|
379
|
WAITFUNC();
|
| shintamainjp |
4:ad06342d4b84
|
380
|
if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
|
| shintamainjp |
4:ad06342d4b84
|
381
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
382
|
}
|
| shintamainjp |
4:ad06342d4b84
|
383
|
uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
|
| shintamainjp |
4:ad06342d4b84
|
384
|
if (vc != (checksum & 0xff)) {
|
| shintamainjp |
4:ad06342d4b84
|
385
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
4:ad06342d4b84
|
386
|
}
|
| shintamainjp |
4:ad06342d4b84
|
387
|
|
| shintamainjp |
12:4daa8c068bc5
|
388
|
/*
|
| shintamainjp |
12:4daa8c068bc5
|
389
|
* Call a call back function.
|
| shintamainjp |
12:4daa8c068bc5
|
390
|
* You can block this function while working.
|
| shintamainjp |
12:4daa8c068bc5
|
391
|
*/
|
| shintamainjp |
4:ad06342d4b84
|
392
|
func(databuf, ds);
|
| shintamainjp |
12:4daa8c068bc5
|
393
|
|
| shintamainjp |
12:4daa8c068bc5
|
394
|
/*
|
| shintamainjp |
12:4daa8c068bc5
|
395
|
* We should wait for camera working before reply a ACK.
|
| shintamainjp |
12:4daa8c068bc5
|
396
|
*/
|
| shintamainjp |
12:4daa8c068bc5
|
397
|
wait_ms(100);
|
| shintamainjp |
4:ad06342d4b84
|
398
|
en = sendAck(0x00, 1 + i);
|
| shintamainjp |
4:ad06342d4b84
|
399
|
if (NoError != en) {
|
| shintamainjp |
4:ad06342d4b84
|
400
|
return en;
|
| shintamainjp |
4:ad06342d4b84
|
401
|
}
|
| shintamainjp |
4:ad06342d4b84
|
402
|
}
|
| shintamainjp |
4:ad06342d4b84
|
403
|
|
| shintamainjp |
4:ad06342d4b84
|
404
|
return (ErrorNumber)NoError;
|
| shintamainjp |
4:ad06342d4b84
|
405
|
}
|
| shintamainjp |
4:ad06342d4b84
|
406
|
|
| shintamainjp |
3:6d3150d4396a
|
407
|
CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
|
| shintamainjp |
2:6a72fcad5c0a
|
408
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
409
|
|
| shintamainjp |
2:6a72fcad5c0a
|
410
|
send[0] = 0xAA;
|
| shintamainjp |
2:6a72fcad5c0a
|
411
|
send[1] = 0x01;
|
| shintamainjp |
2:6a72fcad5c0a
|
412
|
send[2] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
413
|
send[3] = (char)ct;
|
| shintamainjp |
2:6a72fcad5c0a
|
414
|
send[4] = (char)rr;
|
| shintamainjp |
2:6a72fcad5c0a
|
415
|
send[5] = (char)jr;
|
| shintamainjp |
2:6a72fcad5c0a
|
416
|
|
| shintamainjp |
2:6a72fcad5c0a
|
417
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
418
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
419
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
420
|
return (ErrorNumber)NoError;
|
| shintamainjp |
2:6a72fcad5c0a
|
421
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
422
|
|
| shintamainjp |
3:6d3150d4396a
|
423
|
CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
|
| shintamainjp |
2:6a72fcad5c0a
|
424
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
425
|
|
| shintamainjp |
2:6a72fcad5c0a
|
426
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
427
|
send[1] = 0x04;
|
| shintamainjp |
3:6d3150d4396a
|
428
|
send[2] = (char)pt;
|
| shintamainjp |
2:6a72fcad5c0a
|
429
|
send[3] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
430
|
send[4] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
431
|
send[5] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
432
|
|
| shintamainjp |
2:6a72fcad5c0a
|
433
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
434
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
435
|
}
|
| shintamainjp |
3:6d3150d4396a
|
436
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
437
|
}
|
| shintamainjp |
3:6d3150d4396a
|
438
|
|
| shintamainjp |
3:6d3150d4396a
|
439
|
CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
|
| shintamainjp |
3:6d3150d4396a
|
440
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
441
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
442
|
send[1] = 0x05;
|
| shintamainjp |
3:6d3150d4396a
|
443
|
send[2] = (char)st;
|
| shintamainjp |
3:6d3150d4396a
|
444
|
send[3] = (skipFrames >> 0) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
445
|
send[4] = (skipFrames >> 8) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
446
|
send[5] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
447
|
|
| shintamainjp |
3:6d3150d4396a
|
448
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
449
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
450
|
}
|
| shintamainjp |
3:6d3150d4396a
|
451
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
452
|
}
|
| shintamainjp |
3:6d3150d4396a
|
453
|
|
| shintamainjp |
3:6d3150d4396a
|
454
|
CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
|
| shintamainjp |
3:6d3150d4396a
|
455
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
456
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
457
|
send[1] = 0x06;
|
| shintamainjp |
3:6d3150d4396a
|
458
|
send[2] = 0x08;
|
| shintamainjp |
3:6d3150d4396a
|
459
|
send[3] = (packageSize >> 0) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
460
|
send[4] = (packageSize >> 8) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
461
|
send[5] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
462
|
|
| shintamainjp |
3:6d3150d4396a
|
463
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
464
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
465
|
}
|
| shintamainjp |
3:6d3150d4396a
|
466
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
467
|
}
|
| shintamainjp |
3:6d3150d4396a
|
468
|
|
| shintamainjp |
3:6d3150d4396a
|
469
|
CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
|
| shintamainjp |
3:6d3150d4396a
|
470
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
471
|
|
| shintamainjp |
3:6d3150d4396a
|
472
|
static struct baud_list {
|
| shintamainjp |
3:6d3150d4396a
|
473
|
Baud baud;
|
| shintamainjp |
3:6d3150d4396a
|
474
|
uint8_t div1st;
|
| shintamainjp |
3:6d3150d4396a
|
475
|
uint8_t div2nd;
|
| shintamainjp |
3:6d3150d4396a
|
476
|
} baudtable [] = {
|
| shintamainjp |
3:6d3150d4396a
|
477
|
{ Baud7200, 0xff, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
478
|
{ Baud9600, 0xbf, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
479
|
{ Baud14400, 0x7f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
480
|
{ Baud19200, 0x5f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
481
|
{ Baud28800, 0x3f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
482
|
{ Baud38400, 0x2f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
483
|
{ Baud57600, 0x1f, 0x01 },
|
| shintamainjp |
3:6d3150d4396a
|
484
|
{ Baud115200, 0x0f, 0x01 }
|
| shintamainjp |
3:6d3150d4396a
|
485
|
};
|
| shintamainjp |
3:6d3150d4396a
|
486
|
|
| shintamainjp |
3:6d3150d4396a
|
487
|
uint8_t div1st = 0x00, div2nd = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
488
|
struct baud_list *p = &baudtable[0];
|
| shintamainjp |
3:6d3150d4396a
|
489
|
for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
|
| shintamainjp |
3:6d3150d4396a
|
490
|
if (p->baud == baud) {
|
| shintamainjp |
3:6d3150d4396a
|
491
|
div1st = p->div1st;
|
| shintamainjp |
3:6d3150d4396a
|
492
|
div2nd = p->div2nd;
|
| shintamainjp |
3:6d3150d4396a
|
493
|
}
|
| shintamainjp |
3:6d3150d4396a
|
494
|
p++;
|
| shintamainjp |
2:6a72fcad5c0a
|
495
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
496
|
|
| shintamainjp |
3:6d3150d4396a
|
497
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
498
|
send[1] = 0x07;
|
| shintamainjp |
3:6d3150d4396a
|
499
|
send[2] = div1st;
|
| shintamainjp |
3:6d3150d4396a
|
500
|
send[3] = div2nd;
|
| shintamainjp |
3:6d3150d4396a
|
501
|
send[4] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
502
|
send[5] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
503
|
|
| shintamainjp |
3:6d3150d4396a
|
504
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
505
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
506
|
}
|
| shintamainjp |
3:6d3150d4396a
|
507
|
|
| shintamainjp |
3:6d3150d4396a
|
508
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
509
|
}
|
| shintamainjp |
3:6d3150d4396a
|
510
|
|
| shintamainjp |
3:6d3150d4396a
|
511
|
CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
|
| shintamainjp |
3:6d3150d4396a
|
512
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
513
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
514
|
send[1] = 0x08;
|
| shintamainjp |
3:6d3150d4396a
|
515
|
send[2] = (int)rt;
|
| shintamainjp |
3:6d3150d4396a
|
516
|
send[3] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
517
|
send[4] = 0x00;
|
| shintamainjp |
3:6d3150d4396a
|
518
|
send[5] = specialReset ? 0xff : 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
519
|
/*
|
| shintamainjp |
3:6d3150d4396a
|
520
|
* Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
|
| shintamainjp |
2:6a72fcad5c0a
|
521
|
*/
|
| shintamainjp |
2:6a72fcad5c0a
|
522
|
|
| shintamainjp |
3:6d3150d4396a
|
523
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
524
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
525
|
}
|
| shintamainjp |
3:6d3150d4396a
|
526
|
|
| shintamainjp |
3:6d3150d4396a
|
527
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
528
|
}
|
| shintamainjp |
3:6d3150d4396a
|
529
|
|
| shintamainjp |
3:6d3150d4396a
|
530
|
CameraC328::ErrorNumber CameraC328::sendPowerOff() {
|
| shintamainjp |
3:6d3150d4396a
|
531
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
532
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
533
|
send[1] = 0x09;
|
| shintamainjp |
3:6d3150d4396a
|
534
|
send[2] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
535
|
send[3] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
536
|
send[4] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
537
|
send[5] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
538
|
|
| shintamainjp |
2:6a72fcad5c0a
|
539
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
540
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
541
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
542
|
|
| shintamainjp |
3:6d3150d4396a
|
543
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
544
|
}
|
| shintamainjp |
3:6d3150d4396a
|
545
|
|
| shintamainjp |
3:6d3150d4396a
|
546
|
CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, uint32_t *length) {
|
| shintamainjp |
3:6d3150d4396a
|
547
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
548
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
549
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
2:6a72fcad5c0a
|
550
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
551
|
if ((0xAA != recv[0]) || (0x0A != recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
552
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
2:6a72fcad5c0a
|
553
|
}
|
| shintamainjp |
3:6d3150d4396a
|
554
|
*dt = (DataType)recv[2];
|
| shintamainjp |
3:6d3150d4396a
|
555
|
*length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
|
| shintamainjp |
3:6d3150d4396a
|
556
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
557
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
558
|
|
| shintamainjp |
3:6d3150d4396a
|
559
|
CameraC328::ErrorNumber CameraC328::sendSync() {
|
| shintamainjp |
3:6d3150d4396a
|
560
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
2:6a72fcad5c0a
|
561
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
562
|
send[1] = 0x0D;
|
| shintamainjp |
3:6d3150d4396a
|
563
|
send[2] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
564
|
send[3] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
565
|
send[4] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
566
|
send[5] = 0x00;
|
| shintamainjp |
2:6a72fcad5c0a
|
567
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
2:6a72fcad5c0a
|
568
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
2:6a72fcad5c0a
|
569
|
}
|
| shintamainjp |
3:6d3150d4396a
|
570
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
571
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
572
|
|
| shintamainjp |
3:6d3150d4396a
|
573
|
CameraC328::ErrorNumber CameraC328::recvSync() {
|
| shintamainjp |
3:6d3150d4396a
|
574
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
575
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
3:6d3150d4396a
|
576
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
577
|
}
|
| shintamainjp |
3:6d3150d4396a
|
578
|
if ((0xAA != recv[0]) || (0x0D != recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
579
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
580
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
581
|
return (ErrorNumber)NoError;
|
| shintamainjp |
2:6a72fcad5c0a
|
582
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
583
|
|
| shintamainjp |
2:6a72fcad5c0a
|
584
|
/**
|
| shintamainjp |
3:6d3150d4396a
|
585
|
* Send ACK.
|
| shintamainjp |
3:6d3150d4396a
|
586
|
*
|
| shintamainjp |
3:6d3150d4396a
|
587
|
* @param commandId The command with that ID is acknowledged by this command.
|
| shintamainjp |
3:6d3150d4396a
|
588
|
* @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.
|
| shintamainjp |
3:6d3150d4396a
|
589
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
590
|
CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
|
| shintamainjp |
3:6d3150d4396a
|
591
|
char send[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
592
|
send[0] = 0xAA;
|
| shintamainjp |
3:6d3150d4396a
|
593
|
send[1] = 0x0E;
|
| shintamainjp |
3:6d3150d4396a
|
594
|
send[2] = commandId;
|
| shintamainjp |
3:6d3150d4396a
|
595
|
send[3] = 0x00; // ACK counter is not used.
|
| shintamainjp |
3:6d3150d4396a
|
596
|
send[4] = (packageId >> 0) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
597
|
send[5] = (packageId >> 8) & 0xff;
|
| shintamainjp |
3:6d3150d4396a
|
598
|
if (!SENDFUNC(send, sizeof(send))) {
|
| shintamainjp |
3:6d3150d4396a
|
599
|
return (ErrorNumber)SendRegisterTimeout;
|
| shintamainjp |
3:6d3150d4396a
|
600
|
}
|
| shintamainjp |
3:6d3150d4396a
|
601
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
602
|
}
|
| shintamainjp |
3:6d3150d4396a
|
603
|
|
| shintamainjp |
3:6d3150d4396a
|
604
|
/**
|
| shintamainjp |
3:6d3150d4396a
|
605
|
* Receive ACK or NCK.
|
| shintamainjp |
3:6d3150d4396a
|
606
|
*
|
| shintamainjp |
3:6d3150d4396a
|
607
|
* @return Error number.
|
| shintamainjp |
3:6d3150d4396a
|
608
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
609
|
CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
|
| shintamainjp |
3:6d3150d4396a
|
610
|
char recv[COMMAND_LENGTH];
|
| shintamainjp |
3:6d3150d4396a
|
611
|
if (!RECVFUNC(recv, sizeof(recv))) {
|
| shintamainjp |
3:6d3150d4396a
|
612
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
613
|
}
|
| shintamainjp |
3:6d3150d4396a
|
614
|
if ((0xAA == recv[0]) && (0x0E == recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
615
|
return (ErrorNumber)NoError;
|
| shintamainjp |
3:6d3150d4396a
|
616
|
}
|
| shintamainjp |
3:6d3150d4396a
|
617
|
if ((0xAA == recv[0]) && (0x0F == recv[1])) {
|
| shintamainjp |
3:6d3150d4396a
|
618
|
return (ErrorNumber)recv[4];
|
| shintamainjp |
3:6d3150d4396a
|
619
|
}
|
| shintamainjp |
3:6d3150d4396a
|
620
|
return (ErrorNumber)UnexpectedReply;
|
| shintamainjp |
3:6d3150d4396a
|
621
|
}
|
| shintamainjp |
3:6d3150d4396a
|
622
|
|
| shintamainjp |
3:6d3150d4396a
|
623
|
/**
|
| shintamainjp |
2:6a72fcad5c0a
|
624
|
* Send bytes to camera module.
|
| shintamainjp |
2:6a72fcad5c0a
|
625
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
626
|
* @param buf Pointer to the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
627
|
* @param len Length of the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
628
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
629
|
* @return True if the data sended.
|
| shintamainjp |
2:6a72fcad5c0a
|
630
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
631
|
bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
|
| shintamainjp |
2:6a72fcad5c0a
|
632
|
for (uint32_t i = 0; i < (uint32_t)len; i++) {
|
| shintamainjp |
2:6a72fcad5c0a
|
633
|
int cnt = 0;
|
| shintamainjp |
2:6a72fcad5c0a
|
634
|
while (!serial.writeable()) {
|
| shintamainjp |
3:6d3150d4396a
|
635
|
wait_us(1);
|
| shintamainjp |
2:6a72fcad5c0a
|
636
|
cnt++;
|
| shintamainjp |
3:6d3150d4396a
|
637
|
if (timeout_us < cnt) {
|
| shintamainjp |
2:6a72fcad5c0a
|
638
|
return false;
|
| shintamainjp |
2:6a72fcad5c0a
|
639
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
640
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
641
|
serial.putc(buf[i]);
|
| shintamainjp |
2:6a72fcad5c0a
|
642
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
643
|
return true;
|
| shintamainjp |
2:6a72fcad5c0a
|
644
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
645
|
|
| shintamainjp |
2:6a72fcad5c0a
|
646
|
/**
|
| shintamainjp |
2:6a72fcad5c0a
|
647
|
* Receive bytes from camera module.
|
| shintamainjp |
2:6a72fcad5c0a
|
648
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
649
|
* @param buf Pointer to the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
650
|
* @param len Length of the data buffer.
|
| shintamainjp |
2:6a72fcad5c0a
|
651
|
*
|
| shintamainjp |
2:6a72fcad5c0a
|
652
|
* @return True if the data received.
|
| shintamainjp |
2:6a72fcad5c0a
|
653
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
654
|
bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
|
| shintamainjp |
2:6a72fcad5c0a
|
655
|
for (uint32_t i = 0; i < (uint32_t)len; i++) {
|
| shintamainjp |
2:6a72fcad5c0a
|
656
|
int cnt = 0;
|
| shintamainjp |
2:6a72fcad5c0a
|
657
|
while (!serial.readable()) {
|
| shintamainjp |
3:6d3150d4396a
|
658
|
wait_us(1);
|
| shintamainjp |
2:6a72fcad5c0a
|
659
|
cnt++;
|
| shintamainjp |
3:6d3150d4396a
|
660
|
if (timeout_us < cnt) {
|
| shintamainjp |
2:6a72fcad5c0a
|
661
|
return false;
|
| shintamainjp |
2:6a72fcad5c0a
|
662
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
663
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
664
|
buf[i] = serial.getc();
|
| shintamainjp |
2:6a72fcad5c0a
|
665
|
}
|
| shintamainjp |
2:6a72fcad5c0a
|
666
|
return true;
|
| shintamainjp |
2:6a72fcad5c0a
|
667
|
}
|
| shintamainjp |
3:6d3150d4396a
|
668
|
|
| shintamainjp |
3:6d3150d4396a
|
669
|
/**
|
| shintamainjp |
3:6d3150d4396a
|
670
|
* Wait received.
|
| shintamainjp |
3:6d3150d4396a
|
671
|
*
|
| shintamainjp |
3:6d3150d4396a
|
672
|
* @return True if the data received.
|
| shintamainjp |
3:6d3150d4396a
|
673
|
*/
|
| shintamainjp |
3:6d3150d4396a
|
674
|
bool CameraC328::waitRecv() {
|
| shintamainjp |
3:6d3150d4396a
|
675
|
while (!serial.readable()) {
|
| shintamainjp |
3:6d3150d4396a
|
676
|
}
|
| shintamainjp |
3:6d3150d4396a
|
677
|
return true;
|
| shintamainjp |
10:b04f3444b794
|
678
|
}
|
Shinichiro Nakamura
CameraC328