Diff: main2.cpp

Revision:

2:248e3594ca61

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main2.cpp	Wed Sep 09 16:45:37 2015 +0000
@@ -0,0 +1,321 @@
+  #include "mbed.h"
+#include "Camera_LS_Y201.h"
+#include "SDFileSystem.h"
+#include "Servo.h"
+
+Servo myservo(p23);
+//#include "FATFileSystem.h"
+Serial xbee(p28,p27);
+Serial pc(USBTX,USBRX);
+//FILE *p1;
+ 
+  #define DEBMSG      pc.printf
+#define NEWLINE()   pc.printf("\r\n")
+
+#define USE_SDCARD 0
+
+#if USE_SDCARD
+#define FILENAME    "/sd/IMG_%04d.jpg"
+SDFileSystem fs(p5, p6, p7, p8, "sd");
+#else
+#define FILENAME    "/local/IMG_%04d.jpg"
+LocalFileSystem fs("local");
+#endif
+Camera_LS_Y201 cam1(p17, p18);
+
+typedef struct work {
+    FILE *fp;
+} work_t;
+
+work_t work;
+
+  
+  
+    uint8_t send[16] = {
+        0x56,
+        0x00,
+        0x32,
+        0x0C,
+        0x00,
+        0x0A,
+        0x00,
+        0x00,
+        0x00, // MH
+        0x00, // ML
+        0x00,
+        0x00,
+        0x00, // KH
+        0x00, // KL
+        0x00, // XX
+        0x00  // XX
+    };
+   
+    uint16_t x = 10;    // Interval time. XX XX * 0.01m[sec]
+    bool end = true;
+    uint16_t m = 0; // Staring address.
+     /*
+     * Get the data size.
+     */
+uint8_t body[16000];
+uint16_t k = sizeof(body);   
+    int siz_done = 0;
+    int siz_total = 0;
+    int cnt = 0;
+    int z;
+//////////////////////////////////////////
+void callback_func(int done, int total, uint8_t *buf, size_t siz) {
+    
+   // fwrite(buf, siz, 1, work.fp);
+
+for(int i=0;i<siz;i++)
+{
+//xbee.printf("%x",buf[i]);
+fprintf(work.fp,"%c",buf[i]);
+ }
+ 
+    static int n = 0;
+    int tmp = done * 100 / total;
+    if (n != tmp) {
+        n = tmp;
+        DEBMSG("Writ%3d%%", n);
+        NEWLINE();
+   }
+}
+
+
+
+////////////////////////////////////////////    
+
+
+
+
+   void readdJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) {
+
+
+
+if(m==0)
+{
+z=sizeof(body); 
+ }  
+    
+    //if (r != NoError) {
+      //  return r;
+    //}
+
+    
+        send[8] = (m >> 8) & 0xff;
+        send[9] = (m >> 0) & 0xff;
+        send[12] = (k >> 8) & 0xff;
+        send[13] = (k >> 0) & 0xff;
+        send[14] = (x >> 8) & 0xff;
+        send[15] = (x >> 0) & 0xff;
+        /*
+         * Send a command.
+         */
+        cam1.sendBytes(send, sizeof(send), 200 * 1000) ;
+       // printf("sended header");
+        //    return SendError;
+        
+        /*
+         * Read the header of the response.
+         */
+        uint8_t header[5];
+        cam1.recvBytes(header, sizeof(header), 2 * 1000 * 1000);
+        //    return RecvError;
+        //printf("recved header");
+        /*
+         * Check the response and fetch an image data.
+         */
+         
+        if ((header[0] == 0x76)
+                && (header[1] == 0x00)
+                && (header[2] == 0x32)
+                && (header[3] == 0x00)
+                && (header[4] == 0x00)) {
+          
+            cam1.recvBytes(body, z, 2 * 1000 * 1000); //{
+                //return RecvError;
+           // }
+         //   printf("saved");
+            
+            siz_done += z;
+            
+            if (func != NULL) {
+                if (siz_done > siz_total) {
+                    z=sizeof(body)-siz_done+siz_total+3;
+                    siz_done = siz_total;
+                    
+                    
+                }
+                func(siz_done, siz_total, body, z);
+            }
+            for (int i = 1; i < z; i++) {
+                if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) {
+                    end = true;
+                    //printf("saved%d",i);
+                }
+            }
+        } //else {
+           // return UnexpectedReply;
+        //}
+        /*
+         * Read the footer of the response.
+         */
+        uint8_t footer[5];
+        cam1.recvBytes(footer, sizeof(footer), 2 * 1000 * 1000);// {
+        //    return RecvError;
+        //}
+
+        m += z;
+    
+   // return NoError;
+}
+
+//////////////////
+/**
+ * Capture.
+ *
+ * @param cam A pointer to a camera object.
+ * @param filename The file name.
+ *
+ * @return Return 0 if it succeed.
+ */
+ float p=0.1;//////////////servo
+ int flag=1;///////////////servo
+int capture(Camera_LS_Y201 *cam, char *filename) {
+    /*
+     * Take a picture.
+     */
+if(end==true)
+{
+    ///////////////////////////////////////////servo
+     myservo = p;
+     //pc.printf("hhhhhhh%fhhhh",p);
+    if (flag==1)        
+    {
+        p+=0.1;
+    }
+    else
+    {
+        p-=0.1;
+        }
+    if(p>0.9)
+    
+    {
+    flag=0;
+    }
+    
+    if(p<0.1)
+    {
+    flag=1;
+     }
+    
+    //////////////////////////////////////////servo
+    if (cam->takePicture() != 0) {
+        return -1;
+    }
+    cam1.readJpegFileSize(&siz_total);
+//    printf("%d",siz_total);
+    siz_done = 0;
+
+      
+    DEBMSG("Captured.");
+    NEWLINE();
+    work.fp = fopen(filename, "wb");
+    //p1= fopen("/sd/IMG_11111.txt", "wb");
+    if (work.fp == NULL) {
+        return -2;
+    }
+
+    /*
+     * Read the content.
+     */
+    DEBMSG("%s", filename);
+    NEWLINE();
+end=false;
+}
+    /*
+     * Open file.
+     */
+    
+    readdJpegFileContent(callback_func);
+       // fclose(work.fp);
+        //return -3;
+    
+    
+
+    /*
+     * Stop taking pictures.
+     */
+ if(end== true)
+ {
+    fclose(work.fp);
+    cam->stopTakingPictures();
+
+DEBMSG("[%04d]:OK.", cnt);
+            NEWLINE();
+m=0;
+cnt++;
+//wait(1);
+//xbee.printf("saved");
+}
+    return 0;
+}
+////////////////////////////
+/////////////////////////
+
+/////////////////////////////////////////////////////
+int main(void) {
+    
+    xbee.baud(115200);
+    pc.baud(115200);
+    
+DEBMSG("Camera module");
+    NEWLINE();
+    DEBMSG("Resetting...");
+    NEWLINE();
+    wait(1);
+
+    if (cam1.reset() == 0) {
+        DEBMSG("Reset OK.");
+        NEWLINE();
+    } else {
+        DEBMSG("Reset fail.");
+        NEWLINE();
+        error("Reset fail.");
+    }
+
+
+    wait(1);
+    cam1.baud();
+    int j=1;
+    int g=1;
+    while (1) {
+        
+    char fname[64];
+     //  xbee.printf("hello%d\n\r",g);
+       
+       if((end==true)||(j==1))
+       {
+        
+        snprintf(fname, sizeof(fname) - 1, FILENAME, cnt);
+        j=0;
+        }
+        capture(&cam1, fname);
+        //if (r == 0) {
+            
+        
+        //    }
+        //} else {
+            //DEBMSG("[%04d]:NG. (code=%d)", cnt, r);
+           // NEWLINE();
+           // error("Failure.");
+        //}
+        g++;
+    }
+}
+    
+    
+       
+    
+    
\ No newline at end of file