Diff: CameraC328.cpp

Revision:

14:640f564075af

Parent:

13:17cf1e2015f7

Child:

15:49cfda6c547f

--- a/CameraC328.cpp	Fri Sep 17 11:15:37 2010 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,720 +0,0 @@
-/**
- * C328-7640 device driver class (Version 0.0.6)
- * Reference documents: C328-7640 User Manual v3.0 2004.8.19
- *
- * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
- * http://shinta.main.jp/
- */
-
-#include "CameraC328.h"
-
-#define WAITIDLE    waitIdle
-#define SENDFUNC    sendBytes
-#define RECVFUNC    recvBytes
-#define WAITFUNC    waitRecv
-
-/**
- * Constructor.
- *
- * @param tx A pin for transmit.
- * @param rx A pin for receive.
- * @param baud Baud rate. (Default is Baud19200.)
- */
-CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
-    serial.baud((int)baud);
-}
-
-/**
- * Destructor.
- */
-CameraC328::~CameraC328() {
-}
-
-/**
- * Make a sync. for baud rate.
- */
-CameraC328::ErrorNumber CameraC328::sync() {
-    WAITIDLE();
-
-    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);
-                        return NoError;
-                    }
-                }
-            }
-        }
-        wait_ms(50);
-    }
-    return UnexpectedReply;
-}
-
-/**
- * Initialize.
- *
- * @param ct Color type.
- * @param rr Raw resolution.
- * @param jr JPEG resolution.
- */
-CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
-    WAITIDLE();
-    ErrorNumber en;
-
-    en = sendInitial(ct, rr, jr);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    static bool alreadySetupPackageSize = false;
-    if (!alreadySetupPackageSize) {
-        en = sendSetPackageSize(packageSize);
-        if (NoError != en) {
-            return en;
-        }
-        WAITFUNC();
-        en = recvAckOrNck();
-        if (NoError != en) {
-            return en;
-        }
-        alreadySetupPackageSize = true;
-    }
-
-    return (ErrorNumber)NoError;
-}
-
-/**
- * Get uncompressed snapshot picture.
- *
- * @param func A pointer to a callback function.
- *             Please do NOT block this callback function.
- *             Because the camera module transmit image datas continuously.
- * @return Status of the error.
- */
-CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
-    WAITIDLE();
-    ErrorNumber en;
-
-    en = sendSnapshot(UncompressedPicture, 0);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    en = sendGetPicture(SnapshotPicture);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    /*
-     * image data
-     */
-    DataType dt;
-    uint32_t length = 0;
-    WAITFUNC();
-    en = recvData(&dt, &length);
-    if (NoError != en) {
-        return en;
-    }
-    size_t imgcnt = 0;
-    for (int i = 0; i < (int)length; i++) {
-        char c;
-        WAITFUNC();
-        if (!RECVFUNC(&c, 1)) {
-            return (ErrorNumber)UnexpectedReply;
-        }
-        imgcnt++;
-
-        /*
-         * Call a call back function.
-         * Please do not block this function.
-         */
-        func(imgcnt, length, c);
-    }
-
-    /*
-     * ACK
-     */
-    en = sendAck(0x0A, 0x00);
-    if (NoError != en) {
-        return en;
-    }
-
-    return (ErrorNumber)NoError;
-}
-
-/**
- * Get uncompressed preview picture.
- *
- * @param func A pointer to a callback function.
- *             Please do NOT block this callback function.
- *             Because the camera module transmit image datas continuously.
- * @return Status of the error.
- */
-CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
-    WAITIDLE();
-    ErrorNumber en;
-
-    en = sendGetPicture(PreviewPicture);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    /*
-     * image data
-     */
-    DataType dt;
-    uint32_t length = 0;
-    WAITFUNC();
-    en = recvData(&dt, &length);
-    if (NoError != en) {
-        return en;
-    }
-    size_t imgcnt = 0;
-    for (int i = 0; i < (int)length; i++) {
-        char c;
-        WAITFUNC();
-        if (!RECVFUNC(&c, 1)) {
-            return (ErrorNumber)UnexpectedReply;
-        }
-        imgcnt++;
-
-        /*
-         * Call a call back function.
-         * Please do not block this function.
-         */
-        func(imgcnt, length, c);
-    }
-
-    /*
-     * ACK
-     */
-    en = sendAck(0x0A, 0x00);
-    if (NoError != en) {
-        return en;
-    }
-
-    return (ErrorNumber)NoError;
-}
-
-/**
- * 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.
- */
-CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
-    WAITIDLE();
-    ErrorNumber en;
-
-    en = sendSnapshot(CompressedPicture, 1);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    en = sendGetPicture(SnapshotPicture);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    /*
-     * Data : snapshot picture
-     */
-    DataType dt;
-    uint32_t length = 0;
-    WAITFUNC();
-    en = recvData(&dt, &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.
-         */
-        func(databuf, ds);
-
-        /*
-         * 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;
-}
-
-/**
- * Get JPEG preview picture.
- *
- * @param func A pointer to a callback function.
- *             You can block this function until saving the image datas.
- * @return Status of the error.
- */
-CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(*func)(char *buf, size_t siz)) {
-    WAITIDLE();
-    ErrorNumber en;
-
-    en = sendGetPicture(JpegPreviewPicture);
-    if (NoError != en) {
-        return en;
-    }
-    WAITFUNC();
-    en = recvAckOrNck();
-    if (NoError != en) {
-        return en;
-    }
-
-    /*
-     * Data : JPEG preview picture
-     */
-    DataType dt;
-    uint32_t length = 0;
-    WAITFUNC();
-    en = recvData(&dt, &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.
-         */
-        func(databuf, ds);
-
-        /*
-         * 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;
-}
-
-CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
-    char send[COMMAND_LENGTH];
-
-    send[0] = 0xAA;
-    send[1] = 0x01;
-    send[2] = 0x00;
-    send[3] = (char)ct;
-    send[4] = (char)rr;
-    send[5] = (char)jr;
-
-    if (!SENDFUNC(send, sizeof(send))) {
-        return (ErrorNumber)SendRegisterTimeout;
-    }
-    return (ErrorNumber)NoError;
-}
-
-CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
-    char send[COMMAND_LENGTH];
-
-    send[0] = 0xAA;
-    send[1] = 0x04;
-    send[2] = (char)pt;
-    send[3] = 0x00;
-    send[4] = 0x00;
-    send[5] = 0x00;
-
-    if (!SENDFUNC(send, sizeof(send))) {
-        return (ErrorNumber)SendRegisterTimeout;
-    }
-    return (ErrorNumber)NoError;
-}
-
-CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
-    char send[COMMAND_LENGTH];
-    send[0] = 0xAA;
-    send[1] = 0x05;
-    send[2] = (char)st;
-    send[3] = (skipFrames >> 0) & 0xff;
-    send[4] = (skipFrames >> 8) & 0xff;
-    send[5] = 0x00;
-
-    if (!SENDFUNC(send, sizeof(send))) {
-        return (ErrorNumber)SendRegisterTimeout;
-    }
-    return (ErrorNumber)NoError;
-}
-
-CameraC328::ErrorNumber CameraC328::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;
-}
-
-CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
-    char send[COMMAND_LENGTH];
-
-    static struct baud_list {
-        Baud baud;
-        uint8_t div1st;
-        uint8_t div2nd;
-    } baudtable [] = {
-        { Baud7200, 0xff, 0x01 },
-        { Baud9600, 0xbf, 0x01 },
-        { Baud14400, 0x7f, 0x01 },
-        { Baud19200, 0x5f, 0x01 },
-        { Baud28800, 0x3f, 0x01 },
-        { Baud38400, 0x2f, 0x01 },
-        { Baud57600, 0x1f, 0x01 },
-        { Baud115200, 0x0f, 0x01 }
-    };
-
-    uint8_t div1st = 0x00, div2nd = 0x00;
-    struct baud_list *p = &baudtable[0];
-    for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
-        if (p->baud == baud) {
-            div1st = p->div1st;
-            div2nd = p->div2nd;
-        }
-        p++;
-    }
-
-    send[0] = 0xAA;
-    send[1] = 0x07;
-    send[2] = div1st;
-    send[3] = div2nd;
-    send[4] = 0x00;
-    send[5] = 0x00;
-
-    if (!SENDFUNC(send, sizeof(send))) {
-        return (ErrorNumber)SendRegisterTimeout;
-    }
-
-    return (ErrorNumber)NoError;
-}
-
-CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
-    char send[COMMAND_LENGTH];
-    send[0] = 0xAA;
-    send[1] = 0x08;
-    send[2] = (int)rt;
-    send[3] = 0x00;
-    send[4] = 0x00;
-    send[5] = specialReset ? 0xff : 0x00;
-    /*
-     * 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;
-}
-
-CameraC328::ErrorNumber CameraC328::sendPowerOff() {
-    char send[COMMAND_LENGTH];
-    send[0] = 0xAA;
-    send[1] = 0x09;
-    send[2] = 0x00;
-    send[3] = 0x00;
-    send[4] = 0x00;
-    send[5] = 0x00;
-
-    if (!SENDFUNC(send, sizeof(send))) {
-        return (ErrorNumber)SendRegisterTimeout;
-    }
-
-    return (ErrorNumber)NoError;
-}
-
-CameraC328::ErrorNumber CameraC328::recvData(DataType *dt, 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;
-    }
-    *dt = (DataType)recv[2];
-    *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
-    return (ErrorNumber)NoError;
-}
-
-CameraC328::ErrorNumber CameraC328::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;
-}
-
-CameraC328::ErrorNumber CameraC328::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.
- */
-CameraC328::ErrorNumber CameraC328::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.
- */
-CameraC328::ErrorNumber CameraC328::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])) {
-        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 CameraC328::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 CameraC328::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 CameraC328::waitRecv() {
-    while (!serial.readable()) {
-    }
-    return true;
-}
-
-/**
- * Wait idle state.
- */
-bool CameraC328::waitIdle() {
-    while (serial.readable()) {
-        serial.getc();
-    }
-    return true;
-}