Tadao Iida / CameraC1098

C1098-SS(http://www.silentsystem.jp/c1098.htm) JPEG Cameraのライブラリです。C328-7640のJPEG Cameraとは一部のコマンドで互換性があり、C328-7640のライブラリをベースに開発したものです。このバージョンはテスト用で動作確認のために公開しています。 Terminalでモニターし動作を確認しながら使用してください。ライブラリのsetmbedBaudを一部修正しました。

Dependents:   CameraC1098_picture CameraC1098_video Camera-XBee-Wifi

CameraC1098.cpp@0:5a6468b4164d, 2012-07-09 (annotated)

Committer:
sunifu
Date:
Mon Jul 09 10:23:32 2012 +0000
Revision:
0:5a6468b4164d
v0.95

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sunifu 0:5a6468b4164d 1 /**
sunifu 0:5a6468b4164d 2 * C1098-SS device driver class (Version 1.0)
sunifu 0:5a6468b4164d 3 * Reference documents: C1098-SS User Manual v1.0 2012.4.1
sunifu 0:5a6468b4164d 4 *
sunifu 0:5a6468b4164d 5 * CameraC328Library
sunifu 0:5a6468b4164d 6 * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
sunifu 0:5a6468b4164d 7 * http://shinta.main.jp/
sunifu 0:5a6468b4164d 8 *
sunifu 0:5a6468b4164d 9 * CameraC1098-SS Library
sunifu 0:5a6468b4164d 10 * Copyright (C) 2012 Tadao Iida
sunifu 0:5a6468b4164d 11 */
sunifu 0:5a6468b4164d 12
sunifu 0:5a6468b4164d 13 #include "CameraC1098.h"
sunifu 0:5a6468b4164d 14
sunifu 0:5a6468b4164d 15 #define WAITIDLE waitIdle
sunifu 0:5a6468b4164d 16 #define SENDFUNC sendBytes
sunifu 0:5a6468b4164d 17 #define RECVFUNC recvBytes
sunifu 0:5a6468b4164d 18 #define WAITFUNC waitRecv
sunifu 0:5a6468b4164d 19
sunifu 0:5a6468b4164d 20 /**
sunifu 0:5a6468b4164d 21 * Constructor.
sunifu 0:5a6468b4164d 22 *
sunifu 0:5a6468b4164d 23 * @param tx A pin for transmit.
sunifu 0:5a6468b4164d 24 * @param rx A pin for receive.
sunifu 0:5a6468b4164d 25 * @param baud Baud rate. (Default is Baud14400.)
sunifu 0:5a6468b4164d 26 */
sunifu 0:5a6468b4164d 27 CameraC1098::CameraC1098(PinName tx, PinName rx, int baud) : serial(tx, rx) {
sunifu 0:5a6468b4164d 28 serial.baud(baud);
sunifu 0:5a6468b4164d 29 }
sunifu 0:5a6468b4164d 30
sunifu 0:5a6468b4164d 31 /**
sunifu 0:5a6468b4164d 32 * Destructor.
sunifu 0:5a6468b4164d 33 */
sunifu 0:5a6468b4164d 34 CameraC1098::~CameraC1098() {
sunifu 0:5a6468b4164d 35 }
sunifu 0:5a6468b4164d 36
sunifu 0:5a6468b4164d 37 /**
sunifu 0:5a6468b4164d 38 * Make a sync. for baud rate.
sunifu 0:5a6468b4164d 39 */
sunifu 0:5a6468b4164d 40 CameraC1098::ErrorNumber CameraC1098::sync() {
sunifu 0:5a6468b4164d 41 for (int i = 0; i < SYNCMAX; i++) {
sunifu 0:5a6468b4164d 42 if (NoError == sendSync()) {
sunifu 0:5a6468b4164d 43 if (NoError == recvAckOrNck()) {
sunifu 0:5a6468b4164d 44 if (NoError == recvSync()) {
sunifu 0:5a6468b4164d 45 if (NoError == sendAck(0x0D, 0x00)) {
sunifu 0:5a6468b4164d 46 /*
sunifu 0:5a6468b4164d 47 * After synchronization, the camera needs a little time for AEC and AGC to be stable.
sunifu 0:5a6468b4164d 48 * Users should wait for 1-2 seconds before capturing the first picture.
sunifu 0:5a6468b4164d 49 */
sunifu 0:5a6468b4164d 50 wait(2.0);
sunifu 0:5a6468b4164d 51 return NoError;
sunifu 0:5a6468b4164d 52 }
sunifu 0:5a6468b4164d 53 }
sunifu 0:5a6468b4164d 54 }
sunifu 0:5a6468b4164d 55 }
sunifu 0:5a6468b4164d 56 wait_ms(50);
sunifu 0:5a6468b4164d 57 }
sunifu 0:5a6468b4164d 58 return UnexpectedReply;
sunifu 0:5a6468b4164d 59 }
sunifu 0:5a6468b4164d 60
sunifu 0:5a6468b4164d 61 /**
sunifu 0:5a6468b4164d 62 * Initialize.
sunifu 0:5a6468b4164d 63 *
sunifu 0:5a6468b4164d 64 * @param baud Camera Interface Speed.
sunifu 0:5a6468b4164d 65 * @param jr JPEG resolution.
sunifu 0:5a6468b4164d 66 */
sunifu 0:5a6468b4164d 67 CameraC1098::ErrorNumber CameraC1098::init(Baud baud,JpegResolution jr) {
sunifu 0:5a6468b4164d 68 int i ;
sunifu 0:5a6468b4164d 69 ErrorNumber en;
sunifu 0:5a6468b4164d 70 WAITIDLE();
sunifu 0:5a6468b4164d 71 setmbedBaud((Baud)(0x07)) ;
sunifu 0:5a6468b4164d 72
sunifu 0:5a6468b4164d 73 for ( i = 1 ; i < 7 ; i++ ) {
sunifu 0:5a6468b4164d 74 if ( NoError == sendSync() ) {
sunifu 0:5a6468b4164d 75 if ( NoError == recvAckOrNck() ){
sunifu 0:5a6468b4164d 76 if ( NoError == recvSync() ) {
sunifu 0:5a6468b4164d 77 if ( NoError == sendAck(0x0D, 0x00) ) {
sunifu 0:5a6468b4164d 78 en = sendInitial(baud,jr);
sunifu 0:5a6468b4164d 79 if (NoError != en) {
sunifu 0:5a6468b4164d 80 return en;
sunifu 0:5a6468b4164d 81 }
sunifu 0:5a6468b4164d 82 en = recvAckOrNck();
sunifu 0:5a6468b4164d 83 if (NoError != en) {
sunifu 0:5a6468b4164d 84 return en;
sunifu 0:5a6468b4164d 85 }
sunifu 0:5a6468b4164d 86 wait_ms(50) ;
sunifu 0:5a6468b4164d 87 setmbedBaud(baud);
sunifu 0:5a6468b4164d 88 //wait_ms(50) ;
sunifu 0:5a6468b4164d 89 static bool alreadySetupPackageSize = false;
sunifu 0:5a6468b4164d 90 if (!alreadySetupPackageSize) {
sunifu 0:5a6468b4164d 91 en = sendSetPackageSize(packageSize);
sunifu 0:5a6468b4164d 92 if (NoError != en) {
sunifu 0:5a6468b4164d 93 return en;
sunifu 0:5a6468b4164d 94 }
sunifu 0:5a6468b4164d 95 WAITFUNC();
sunifu 0:5a6468b4164d 96 en = recvAckOrNck();
sunifu 0:5a6468b4164d 97 if (NoError != en) {
sunifu 0:5a6468b4164d 98 return en;
sunifu 0:5a6468b4164d 99 }
sunifu 0:5a6468b4164d 100 alreadySetupPackageSize = true;
sunifu 0:5a6468b4164d 101 }
sunifu 0:5a6468b4164d 102
sunifu 0:5a6468b4164d 103 wait(2.0);
sunifu 0:5a6468b4164d 104 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 105 /*
sunifu 0:5a6468b4164d 106 * After synchronization, the camera needs a little time for AEC and AGC to be stable.
sunifu 0:5a6468b4164d 107 * Users should wait for 1-2 seconds before capturing the first picture.
sunifu 0:5a6468b4164d 108 */
sunifu 0:5a6468b4164d 109 }
sunifu 0:5a6468b4164d 110 }
sunifu 0:5a6468b4164d 111 }else{
sunifu 0:5a6468b4164d 112 setmbedBaud((Baud)(i+1)) ;
sunifu 0:5a6468b4164d 113 }
sunifu 0:5a6468b4164d 114 }
sunifu 0:5a6468b4164d 115 wait_ms(50);
sunifu 0:5a6468b4164d 116 }
sunifu 0:5a6468b4164d 117 return UnexpectedReply;
sunifu 0:5a6468b4164d 118 }
sunifu 0:5a6468b4164d 119
sunifu 0:5a6468b4164d 120
sunifu 0:5a6468b4164d 121 /**
sunifu 0:5a6468b4164d 122 * Get JPEG snapshot picture.
sunifu 0:5a6468b4164d 123 *
sunifu 0:5a6468b4164d 124 * @param func A pointer to a callback function.
sunifu 0:5a6468b4164d 125 * You can block this function until saving the image datas.
sunifu 0:5a6468b4164d 126 * @return Status of the error.
sunifu 0:5a6468b4164d 127 */
sunifu 0:5a6468b4164d 128 CameraC1098::ErrorNumber CameraC1098::getJpegSnapshotPicture(void(*func)(char *buf, size_t siz)) {
sunifu 0:5a6468b4164d 129 WAITIDLE();
sunifu 0:5a6468b4164d 130 ErrorNumber en;
sunifu 0:5a6468b4164d 131
sunifu 0:5a6468b4164d 132
sunifu 0:5a6468b4164d 133 en = sendSnapshot();
sunifu 0:5a6468b4164d 134 if (NoError != en) {
sunifu 0:5a6468b4164d 135 return en;
sunifu 0:5a6468b4164d 136 }
sunifu 0:5a6468b4164d 137 WAITFUNC();
sunifu 0:5a6468b4164d 138 en = recvAckOrNck();
sunifu 0:5a6468b4164d 139 if (NoError != en) {
sunifu 0:5a6468b4164d 140 return en;
sunifu 0:5a6468b4164d 141 }
sunifu 0:5a6468b4164d 142
sunifu 0:5a6468b4164d 143 en = sendGetPicture();
sunifu 0:5a6468b4164d 144 if (NoError != en) {
sunifu 0:5a6468b4164d 145 return en;
sunifu 0:5a6468b4164d 146 }
sunifu 0:5a6468b4164d 147 WAITFUNC();
sunifu 0:5a6468b4164d 148 en = recvAckOrNck();
sunifu 0:5a6468b4164d 149 if (NoError != en) {
sunifu 0:5a6468b4164d 150 return en;
sunifu 0:5a6468b4164d 151 }
sunifu 0:5a6468b4164d 152
sunifu 0:5a6468b4164d 153 /*
sunifu 0:5a6468b4164d 154 * Data : snapshot picture
sunifu 0:5a6468b4164d 155 */
sunifu 0:5a6468b4164d 156 uint32_t length = 0;
sunifu 0:5a6468b4164d 157 WAITFUNC();
sunifu 0:5a6468b4164d 158 en = recvData(&length);
sunifu 0:5a6468b4164d 159 if (NoError != en) {
sunifu 0:5a6468b4164d 160 return en;
sunifu 0:5a6468b4164d 161 }
sunifu 0:5a6468b4164d 162 en = sendAck(0x00, 0);
sunifu 0:5a6468b4164d 163 if (NoError != en) {
sunifu 0:5a6468b4164d 164 return en;
sunifu 0:5a6468b4164d 165 }
sunifu 0:5a6468b4164d 166
sunifu 0:5a6468b4164d 167 char databuf[packageSize - 6];
sunifu 0:5a6468b4164d 168 uint16_t pkg_total = length / (packageSize - 6);
sunifu 0:5a6468b4164d 169 for (int i = 0; i <= (int)pkg_total; i++) {
sunifu 0:5a6468b4164d 170 uint16_t checksum = 0;
sunifu 0:5a6468b4164d 171 // ID.
sunifu 0:5a6468b4164d 172 char idbuf[2];
sunifu 0:5a6468b4164d 173 WAITFUNC();
sunifu 0:5a6468b4164d 174 if (!RECVFUNC(idbuf, sizeof(idbuf))) {
sunifu 0:5a6468b4164d 175 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 176 }
sunifu 0:5a6468b4164d 177 checksum += idbuf[0];
sunifu 0:5a6468b4164d 178 checksum += idbuf[1];
sunifu 0:5a6468b4164d 179 uint16_t id = (idbuf[1] << 8) | (idbuf[0] << 0);
sunifu 0:5a6468b4164d 180 if (id != i) {
sunifu 0:5a6468b4164d 181 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 182 }
sunifu 0:5a6468b4164d 183
sunifu 0:5a6468b4164d 184 // Size of the data.
sunifu 0:5a6468b4164d 185 char dsbuf[2];
sunifu 0:5a6468b4164d 186 WAITFUNC();
sunifu 0:5a6468b4164d 187 if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
sunifu 0:5a6468b4164d 188 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 189 }
sunifu 0:5a6468b4164d 190
sunifu 0:5a6468b4164d 191 // Received the data.
sunifu 0:5a6468b4164d 192 checksum += dsbuf[0];
sunifu 0:5a6468b4164d 193 checksum += dsbuf[1];
sunifu 0:5a6468b4164d 194 uint16_t ds = (dsbuf[1] << 8) | (dsbuf[0] << 0);
sunifu 0:5a6468b4164d 195 WAITFUNC();
sunifu 0:5a6468b4164d 196 if (!RECVFUNC(&databuf[0], ds)) {
sunifu 0:5a6468b4164d 197 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 198 }
sunifu 0:5a6468b4164d 199 for (int j = 0; j < ds; j++) {
sunifu 0:5a6468b4164d 200 checksum += databuf[j];
sunifu 0:5a6468b4164d 201 }
sunifu 0:5a6468b4164d 202
sunifu 0:5a6468b4164d 203 // Verify code.
sunifu 0:5a6468b4164d 204 char vcbuf[2];
sunifu 0:5a6468b4164d 205 WAITFUNC();
sunifu 0:5a6468b4164d 206 if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
sunifu 0:5a6468b4164d 207 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 208 }
sunifu 0:5a6468b4164d 209 uint16_t vc = (vcbuf[1] << 8) | (vcbuf[0] << 0);
sunifu 0:5a6468b4164d 210 if (vc != (checksum & 0xff)) {
sunifu 0:5a6468b4164d 211 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 212 }
sunifu 0:5a6468b4164d 213
sunifu 0:5a6468b4164d 214 /*
sunifu 0:5a6468b4164d 215 * Call a call back function.
sunifu 0:5a6468b4164d 216 * You can block this function while working.
sunifu 0:5a6468b4164d 217 */
sunifu 0:5a6468b4164d 218 func(databuf, ds);
sunifu 0:5a6468b4164d 219
sunifu 0:5a6468b4164d 220 /*
sunifu 0:5a6468b4164d 221 * We should wait for camera working before reply a ACK.
sunifu 0:5a6468b4164d 222 */
sunifu 0:5a6468b4164d 223 wait_ms(100);
sunifu 0:5a6468b4164d 224 en = sendAck(0x00, 1 + i);
sunifu 0:5a6468b4164d 225 if (NoError != en) {
sunifu 0:5a6468b4164d 226 return en;
sunifu 0:5a6468b4164d 227 }
sunifu 0:5a6468b4164d 228 }
sunifu 0:5a6468b4164d 229
sunifu 0:5a6468b4164d 230 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 231 }
sunifu 0:5a6468b4164d 232
sunifu 0:5a6468b4164d 233
sunifu 0:5a6468b4164d 234
sunifu 0:5a6468b4164d 235 CameraC1098::ErrorNumber CameraC1098::sendInitial(Baud baud, JpegResolution jr) {
sunifu 0:5a6468b4164d 236 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 237
sunifu 0:5a6468b4164d 238 send[0] = 0xAA;
sunifu 0:5a6468b4164d 239 send[1] = 0x01;
sunifu 0:5a6468b4164d 240 send[2] = (char)baud;
sunifu 0:5a6468b4164d 241 send[3] = 0x07;
sunifu 0:5a6468b4164d 242 send[4] = 0x00;
sunifu 0:5a6468b4164d 243 send[5] = (char)jr;
sunifu 0:5a6468b4164d 244
sunifu 0:5a6468b4164d 245 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 246 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 247 }
sunifu 0:5a6468b4164d 248
sunifu 0:5a6468b4164d 249 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 250 }
sunifu 0:5a6468b4164d 251
sunifu 0:5a6468b4164d 252 CameraC1098::ErrorNumber CameraC1098::sendGetPicture(void) {
sunifu 0:5a6468b4164d 253 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 254
sunifu 0:5a6468b4164d 255 send[0] = 0xAA;
sunifu 0:5a6468b4164d 256 send[1] = 0x04;
sunifu 0:5a6468b4164d 257 send[2] = 0x01;
sunifu 0:5a6468b4164d 258 send[3] = 0x00;
sunifu 0:5a6468b4164d 259 send[4] = 0x00;
sunifu 0:5a6468b4164d 260 send[5] = 0x00;
sunifu 0:5a6468b4164d 261
sunifu 0:5a6468b4164d 262 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 263 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 264 }
sunifu 0:5a6468b4164d 265 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 266 }
sunifu 0:5a6468b4164d 267
sunifu 0:5a6468b4164d 268 CameraC1098::ErrorNumber CameraC1098::sendSnapshot(void) {
sunifu 0:5a6468b4164d 269 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 270 send[0] = 0xAA;
sunifu 0:5a6468b4164d 271 send[1] = 0x05;
sunifu 0:5a6468b4164d 272 send[2] = 0x00;
sunifu 0:5a6468b4164d 273 send[3] = 0x00;
sunifu 0:5a6468b4164d 274 send[4] = 0x00;
sunifu 0:5a6468b4164d 275 send[5] = 0x00;
sunifu 0:5a6468b4164d 276
sunifu 0:5a6468b4164d 277 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 278 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 279 }
sunifu 0:5a6468b4164d 280 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 281 }
sunifu 0:5a6468b4164d 282
sunifu 0:5a6468b4164d 283 CameraC1098::ErrorNumber CameraC1098::sendSetPackageSize(uint16_t packageSize) {
sunifu 0:5a6468b4164d 284 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 285 send[0] = 0xAA;
sunifu 0:5a6468b4164d 286 send[1] = 0x06;
sunifu 0:5a6468b4164d 287 send[2] = 0x08;
sunifu 0:5a6468b4164d 288 send[3] = (packageSize >> 0) & 0xff;
sunifu 0:5a6468b4164d 289 send[4] = (packageSize >> 8) & 0xff;
sunifu 0:5a6468b4164d 290 send[5] = 0x00;
sunifu 0:5a6468b4164d 291
sunifu 0:5a6468b4164d 292 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 293 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 294 }
sunifu 0:5a6468b4164d 295 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 296 }
sunifu 0:5a6468b4164d 297
sunifu 0:5a6468b4164d 298 void CameraC1098::setmbedBaud(Baud baud){
sunifu 0:5a6468b4164d 299 switch((int)baud){
sunifu 0:5a6468b4164d 300 case 0x02:
sunifu 0:5a6468b4164d 301 serial._baud(460800);
sunifu 0:5a6468b4164d 302 break;
sunifu 0:5a6468b4164d 303 case 0x03:
sunifu 0:5a6468b4164d 304 serial._baud(230400);
sunifu 0:5a6468b4164d 305 break;
sunifu 0:5a6468b4164d 306 case 0x04:
sunifu 0:5a6468b4164d 307 serial._baud(115200);
sunifu 0:5a6468b4164d 308 break;
sunifu 0:5a6468b4164d 309 case 0x05:
sunifu 0:5a6468b4164d 310 serial._baud(57600);
sunifu 0:5a6468b4164d 311 break;
sunifu 0:5a6468b4164d 312 case 0x06:
sunifu 0:5a6468b4164d 313 serial._baud((int)28800);
sunifu 0:5a6468b4164d 314 break;
sunifu 0:5a6468b4164d 315 case 0x07:
sunifu 0:5a6468b4164d 316 serial._baud(14400);
sunifu 0:5a6468b4164d 317 break;
sunifu 0:5a6468b4164d 318 default:
sunifu 0:5a6468b4164d 319 serial._baud(14400);
sunifu 0:5a6468b4164d 320 }
sunifu 0:5a6468b4164d 321 }
sunifu 0:5a6468b4164d 322
sunifu 0:5a6468b4164d 323
sunifu 0:5a6468b4164d 324 CameraC1098::ErrorNumber CameraC1098::sendReset(ResetType specialReset) {
sunifu 0:5a6468b4164d 325 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 326 send[0] = 0xAA;
sunifu 0:5a6468b4164d 327 send[1] = 0x08;
sunifu 0:5a6468b4164d 328 send[2] = 0x00;
sunifu 0:5a6468b4164d 329 send[3] = 0x00;
sunifu 0:5a6468b4164d 330 send[4] = 0x00;
sunifu 0:5a6468b4164d 331 send[5] = specialReset;
sunifu 0:5a6468b4164d 332 /*
sunifu 0:5a6468b4164d 333 * Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
sunifu 0:5a6468b4164d 334 */
sunifu 0:5a6468b4164d 335
sunifu 0:5a6468b4164d 336 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 337 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 338 }
sunifu 0:5a6468b4164d 339
sunifu 0:5a6468b4164d 340 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 341 }
sunifu 0:5a6468b4164d 342
sunifu 0:5a6468b4164d 343
sunifu 0:5a6468b4164d 344 CameraC1098::ErrorNumber CameraC1098::recvData(uint32_t *length) {
sunifu 0:5a6468b4164d 345 char recv[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 346 if (!RECVFUNC(recv, sizeof(recv))) {
sunifu 0:5a6468b4164d 347 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 348 }
sunifu 0:5a6468b4164d 349 if ((0xAA != recv[0]) || (0x0A != recv[1])) {
sunifu 0:5a6468b4164d 350 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 351 }
sunifu 0:5a6468b4164d 352 recv[2] = (char)0x01;
sunifu 0:5a6468b4164d 353 *length = (recv[5] << 16) | (recv[4] << 8) | (recv[3] << 0);
sunifu 0:5a6468b4164d 354 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 355 }
sunifu 0:5a6468b4164d 356
sunifu 0:5a6468b4164d 357 CameraC1098::ErrorNumber CameraC1098::sendSync() {
sunifu 0:5a6468b4164d 358 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 359 send[0] = 0xAA;
sunifu 0:5a6468b4164d 360 send[1] = 0x0D;
sunifu 0:5a6468b4164d 361 send[2] = 0x00;
sunifu 0:5a6468b4164d 362 send[3] = 0x00;
sunifu 0:5a6468b4164d 363 send[4] = 0x00;
sunifu 0:5a6468b4164d 364 send[5] = 0x00;
sunifu 0:5a6468b4164d 365
sunifu 0:5a6468b4164d 366
sunifu 0:5a6468b4164d 367 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 368 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 369 }
sunifu 0:5a6468b4164d 370 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 371 }
sunifu 0:5a6468b4164d 372
sunifu 0:5a6468b4164d 373 CameraC1098::ErrorNumber CameraC1098::recvSync() {
sunifu 0:5a6468b4164d 374 char recv[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 375
sunifu 0:5a6468b4164d 376 if (!RECVFUNC(recv, sizeof(recv))) {
sunifu 0:5a6468b4164d 377 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 378 }
sunifu 0:5a6468b4164d 379 if ((0xAA != recv[0]) || (0x0D != recv[1])) {
sunifu 0:5a6468b4164d 380 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 381 }
sunifu 0:5a6468b4164d 382 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 383 }
sunifu 0:5a6468b4164d 384
sunifu 0:5a6468b4164d 385 /**
sunifu 0:5a6468b4164d 386 * Send ACK.
sunifu 0:5a6468b4164d 387 *
sunifu 0:5a6468b4164d 388 * @param commandId The command with that ID is acknowledged by this command.
sunifu 0:5a6468b4164d 389 * @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.
sunifu 0:5a6468b4164d 390 */
sunifu 0:5a6468b4164d 391 CameraC1098::ErrorNumber CameraC1098::sendAck(uint8_t commandId, uint16_t packageId) {
sunifu 0:5a6468b4164d 392 char send[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 393
sunifu 0:5a6468b4164d 394 send[0] = 0xAA;
sunifu 0:5a6468b4164d 395 send[1] = 0x0E;
sunifu 0:5a6468b4164d 396 send[2] = commandId;
sunifu 0:5a6468b4164d 397 send[3] = 0x00; // ACK counter is not used.
sunifu 0:5a6468b4164d 398 send[4] = (packageId >> 0) & 0xff;
sunifu 0:5a6468b4164d 399 send[5] = (packageId >> 8) & 0xff;
sunifu 0:5a6468b4164d 400 if (!SENDFUNC(send, sizeof(send))) {
sunifu 0:5a6468b4164d 401 return (ErrorNumber)SendRegisterTimeout;
sunifu 0:5a6468b4164d 402 }
sunifu 0:5a6468b4164d 403 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 404 }
sunifu 0:5a6468b4164d 405
sunifu 0:5a6468b4164d 406 /**
sunifu 0:5a6468b4164d 407 * Receive ACK or NCK.
sunifu 0:5a6468b4164d 408 *
sunifu 0:5a6468b4164d 409 * @return Error number.
sunifu 0:5a6468b4164d 410 */
sunifu 0:5a6468b4164d 411 CameraC1098::ErrorNumber CameraC1098::recvAckOrNck() {
sunifu 0:5a6468b4164d 412 char recv[COMMAND_LENGTH];
sunifu 0:5a6468b4164d 413
sunifu 0:5a6468b4164d 414 if (!RECVFUNC(recv, sizeof(recv))) {
sunifu 0:5a6468b4164d 415 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 416 }
sunifu 0:5a6468b4164d 417 if ((0xAA == recv[0]) && (0x0E == recv[1])) {
sunifu 0:5a6468b4164d 418 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 419 }
sunifu 0:5a6468b4164d 420 if ((0xAA == recv[0]) && (0x0F == recv[1]) && (0x00 == recv[2])) {
sunifu 0:5a6468b4164d 421 return (ErrorNumber)NoError;
sunifu 0:5a6468b4164d 422 }
sunifu 0:5a6468b4164d 423 if ((0xAA == recv[0]) && (0x0F == recv[1])) {
sunifu 0:5a6468b4164d 424 return (ErrorNumber)recv[4];
sunifu 0:5a6468b4164d 425 }
sunifu 0:5a6468b4164d 426 return (ErrorNumber)UnexpectedReply;
sunifu 0:5a6468b4164d 427 }
sunifu 0:5a6468b4164d 428
sunifu 0:5a6468b4164d 429 /**
sunifu 0:5a6468b4164d 430 * Send bytes to camera module.
sunifu 0:5a6468b4164d 431 *
sunifu 0:5a6468b4164d 432 * @param buf Pointer to the data buffer.
sunifu 0:5a6468b4164d 433 * @param len Length of the data buffer.
sunifu 0:5a6468b4164d 434 *
sunifu 0:5a6468b4164d 435 * @return True if the data sended.
sunifu 0:5a6468b4164d 436 */
sunifu 0:5a6468b4164d 437 bool CameraC1098::sendBytes(char *buf, size_t len, int timeout_us) {
sunifu 0:5a6468b4164d 438 for (uint32_t i = 0; i < (uint32_t)len; i++) {
sunifu 0:5a6468b4164d 439 int cnt = 0;
sunifu 0:5a6468b4164d 440 while (!serial.writeable()) {
sunifu 0:5a6468b4164d 441 wait_us(1);
sunifu 0:5a6468b4164d 442 cnt++;
sunifu 0:5a6468b4164d 443 if (timeout_us < cnt) {
sunifu 0:5a6468b4164d 444 return false;
sunifu 0:5a6468b4164d 445 }
sunifu 0:5a6468b4164d 446 }
sunifu 0:5a6468b4164d 447 serial.putc(buf[i]);
sunifu 0:5a6468b4164d 448 }
sunifu 0:5a6468b4164d 449 return true;
sunifu 0:5a6468b4164d 450 }
sunifu 0:5a6468b4164d 451
sunifu 0:5a6468b4164d 452 /**
sunifu 0:5a6468b4164d 453 * Receive bytes from camera module.
sunifu 0:5a6468b4164d 454 *
sunifu 0:5a6468b4164d 455 * @param buf Pointer to the data buffer.
sunifu 0:5a6468b4164d 456 * @param len Length of the data buffer.
sunifu 0:5a6468b4164d 457 *
sunifu 0:5a6468b4164d 458 * @return True if the data received.
sunifu 0:5a6468b4164d 459 */
sunifu 0:5a6468b4164d 460 bool CameraC1098::recvBytes(char *buf, size_t len, int timeout_us) {
sunifu 0:5a6468b4164d 461 for (uint32_t i = 0; i < (uint32_t)len; i++) {
sunifu 0:5a6468b4164d 462 int cnt = 0;
sunifu 0:5a6468b4164d 463 while (!serial.readable()) {
sunifu 0:5a6468b4164d 464 wait_us(1);
sunifu 0:5a6468b4164d 465 cnt++;
sunifu 0:5a6468b4164d 466 if (timeout_us < cnt) {
sunifu 0:5a6468b4164d 467 return false;
sunifu 0:5a6468b4164d 468 }
sunifu 0:5a6468b4164d 469 }
sunifu 0:5a6468b4164d 470 buf[i] = serial.getc();
sunifu 0:5a6468b4164d 471 }
sunifu 0:5a6468b4164d 472 return true;
sunifu 0:5a6468b4164d 473 }
sunifu 0:5a6468b4164d 474
sunifu 0:5a6468b4164d 475 /**
sunifu 0:5a6468b4164d 476 * Wait received.
sunifu 0:5a6468b4164d 477 *
sunifu 0:5a6468b4164d 478 * @return True if the data received.
sunifu 0:5a6468b4164d 479 */
sunifu 0:5a6468b4164d 480 bool CameraC1098::waitRecv() {
sunifu 0:5a6468b4164d 481 while (!serial.readable()) {
sunifu 0:5a6468b4164d 482 }
sunifu 0:5a6468b4164d 483 return true;
sunifu 0:5a6468b4164d 484 }
sunifu 0:5a6468b4164d 485
sunifu 0:5a6468b4164d 486 /**
sunifu 0:5a6468b4164d 487 * Wait idle state.
sunifu 0:5a6468b4164d 488 */
sunifu 0:5a6468b4164d 489 bool CameraC1098::waitIdle() {
sunifu 0:5a6468b4164d 490 while (serial.readable()) {
sunifu 0:5a6468b4164d 491 serial.getc();
sunifu 0:5a6468b4164d 492 }
sunifu 0:5a6468b4164d 493 return true;
sunifu 0:5a6468b4164d 494 }