CameraC328 - CameraC328

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CameraC328

Dependents: CameraC328_TestProgram CameraC328_Thresholding Camera_TestProgram_2015 Camera_TestProgram_2015 ... more

CameraC328.cpp@4:ad06342d4b84, 2010-06-29 (annotated)

Committer:: shintamainjp
Date:: Tue Jun 29 22:55:35 2010 +0000
Revision:: 4:ad06342d4b84
Parent:: 3:6d3150d4396a
Child:: 7:d0d13822c37a

Who changed what in which revision?

User	Revision	Line number	New contents of line
shintamainjp	3:6d3150d4396a	1	/**
shintamainjp	4:ad06342d4b84	2	* C328-7640 device driver class (Version 0.0.2)
shintamainjp	3:6d3150d4396a	3	* Reference documents: C328-7640 User Manual v3.0 2004.8.19
shintamainjp	3:6d3150d4396a	4	*
shintamainjp	3:6d3150d4396a	5	* Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
shintamainjp	3:6d3150d4396a	6	* http://shinta.main.jp/
shintamainjp	3:6d3150d4396a	7	*/
shintamainjp	3:6d3150d4396a	8
shintamainjp	2:6a72fcad5c0a	9	#include "CameraC328.h"
shintamainjp	2:6a72fcad5c0a	10
shintamainjp	2:6a72fcad5c0a	11	#define SENDFUNC sendBytes
shintamainjp	2:6a72fcad5c0a	12	#define RECVFUNC recvBytes
shintamainjp	3:6d3150d4396a	13	#define WAITFUNC waitRecv
shintamainjp	2:6a72fcad5c0a	14
shintamainjp	4:ad06342d4b84	15	Serial debout(USBTX, USBRX);
shintamainjp	4:ad06342d4b84	16
shintamainjp	3:6d3150d4396a	17	CameraC328::CameraC328(PinName tx, PinName rx, Baud baud) : serial(tx, rx) {
shintamainjp	3:6d3150d4396a	18	serial.baud((int)baud);
shintamainjp	2:6a72fcad5c0a	19	}
shintamainjp	2:6a72fcad5c0a	20
shintamainjp	2:6a72fcad5c0a	21	CameraC328::~CameraC328() {
shintamainjp	2:6a72fcad5c0a	22	}
shintamainjp	2:6a72fcad5c0a	23
shintamainjp	2:6a72fcad5c0a	24	CameraC328::ErrorNumber CameraC328::sync() {
shintamainjp	2:6a72fcad5c0a	25	for (int i = 0; i < SYNCMAX; i++) {
shintamainjp	3:6d3150d4396a	26	if (NoError == sendSync()) {
shintamainjp	3:6d3150d4396a	27	if (NoError == recvAckOrNck()) {
shintamainjp	3:6d3150d4396a	28	if (NoError == recvSync()) {
shintamainjp	3:6d3150d4396a	29	if (NoError == sendAck(0x0D, 0x00)) {
shintamainjp	3:6d3150d4396a	30	/*
shintamainjp	3:6d3150d4396a	31	* After synchronization, the camera needs a little time for AEC and AGC to be stable.
shintamainjp	3:6d3150d4396a	32	* Users should wait for 1-2 seconds before capturing the first picture.
shintamainjp	3:6d3150d4396a	33	*/
shintamainjp	3:6d3150d4396a	34	wait(2);
shintamainjp	3:6d3150d4396a	35	return NoError;
shintamainjp	2:6a72fcad5c0a	36	}
shintamainjp	2:6a72fcad5c0a	37	}
shintamainjp	2:6a72fcad5c0a	38	}
shintamainjp	2:6a72fcad5c0a	39	}
shintamainjp	3:6d3150d4396a	40	wait_ms(50);
shintamainjp	2:6a72fcad5c0a	41	}
shintamainjp	2:6a72fcad5c0a	42	return UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	43	}
shintamainjp	2:6a72fcad5c0a	44
shintamainjp	2:6a72fcad5c0a	45	CameraC328::ErrorNumber CameraC328::init(ColorType ct, RawResolution rr, JpegResolution jr) {
shintamainjp	3:6d3150d4396a	46	ErrorNumber en;
shintamainjp	3:6d3150d4396a	47
shintamainjp	3:6d3150d4396a	48	en = sendInitial(ct, rr, jr);
shintamainjp	3:6d3150d4396a	49	if (NoError != en) {
shintamainjp	3:6d3150d4396a	50	return en;
shintamainjp	3:6d3150d4396a	51	}
shintamainjp	3:6d3150d4396a	52	WAITFUNC();
shintamainjp	3:6d3150d4396a	53	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	54	if (NoError != en) {
shintamainjp	3:6d3150d4396a	55	return en;
shintamainjp	3:6d3150d4396a	56	}
shintamainjp	3:6d3150d4396a	57
shintamainjp	4:ad06342d4b84	58	static bool alreadySetupPackageSize = false;
shintamainjp	4:ad06342d4b84	59	if (!alreadySetupPackageSize) {
shintamainjp	4:ad06342d4b84	60	en = sendSetPackageSize(packageSize);
shintamainjp	4:ad06342d4b84	61	if (NoError != en) {
shintamainjp	4:ad06342d4b84	62	return en;
shintamainjp	4:ad06342d4b84	63	}
shintamainjp	4:ad06342d4b84	64	WAITFUNC();
shintamainjp	4:ad06342d4b84	65	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	66	if (NoError != en) {
shintamainjp	4:ad06342d4b84	67	return en;
shintamainjp	4:ad06342d4b84	68	}
shintamainjp	4:ad06342d4b84	69	alreadySetupPackageSize = true;
shintamainjp	4:ad06342d4b84	70	}
shintamainjp	4:ad06342d4b84	71
shintamainjp	3:6d3150d4396a	72	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	73	}
shintamainjp	3:6d3150d4396a	74
shintamainjp	3:6d3150d4396a	75	/**
shintamainjp	4:ad06342d4b84	76	* Get uncompressed snapshot picture.
shintamainjp	3:6d3150d4396a	77	*
shintamainjp	3:6d3150d4396a	78	* @param func Pointer to a callback function.
shintamainjp	3:6d3150d4396a	79	* @return Status of the error.
shintamainjp	3:6d3150d4396a	80	*/
shintamainjp	3:6d3150d4396a	81	CameraC328::ErrorNumber CameraC328::getUncompressedSnapshotPicture(void(*func)(size_t done, size_t total, char c)) {
shintamainjp	3:6d3150d4396a	82	ErrorNumber en;
shintamainjp	3:6d3150d4396a	83
shintamainjp	3:6d3150d4396a	84	en = sendSnapshot(UncompressedPicture, 0);
shintamainjp	3:6d3150d4396a	85	if (NoError != en) {
shintamainjp	3:6d3150d4396a	86	return en;
shintamainjp	3:6d3150d4396a	87	}
shintamainjp	3:6d3150d4396a	88	WAITFUNC();
shintamainjp	3:6d3150d4396a	89	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	90	if (NoError != en) {
shintamainjp	3:6d3150d4396a	91	return en;
shintamainjp	3:6d3150d4396a	92	}
shintamainjp	3:6d3150d4396a	93
shintamainjp	3:6d3150d4396a	94	en = sendGetPicture(SnapshotPicture);
shintamainjp	3:6d3150d4396a	95	if (NoError != en) {
shintamainjp	3:6d3150d4396a	96	return en;
shintamainjp	3:6d3150d4396a	97	}
shintamainjp	3:6d3150d4396a	98	WAITFUNC();
shintamainjp	3:6d3150d4396a	99	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	100	if (NoError != en) {
shintamainjp	3:6d3150d4396a	101	return en;
shintamainjp	3:6d3150d4396a	102	}
shintamainjp	3:6d3150d4396a	103
shintamainjp	3:6d3150d4396a	104	/*
shintamainjp	3:6d3150d4396a	105	* image data
shintamainjp	3:6d3150d4396a	106	*/
shintamainjp	3:6d3150d4396a	107	DataType dt;
shintamainjp	3:6d3150d4396a	108	uint32_t length = 0;
shintamainjp	3:6d3150d4396a	109	WAITFUNC();
shintamainjp	3:6d3150d4396a	110	en = recvData(&dt, &length);
shintamainjp	3:6d3150d4396a	111	if (NoError != en) {
shintamainjp	3:6d3150d4396a	112	return en;
shintamainjp	3:6d3150d4396a	113	}
shintamainjp	3:6d3150d4396a	114	size_t imgcnt = 0;
shintamainjp	3:6d3150d4396a	115	for (int i = 0; i < (int)length; i++) {
shintamainjp	3:6d3150d4396a	116	char c;
shintamainjp	3:6d3150d4396a	117	WAITFUNC();
shintamainjp	3:6d3150d4396a	118	if (!RECVFUNC(&c, 1)) {
shintamainjp	3:6d3150d4396a	119	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	120	}
shintamainjp	3:6d3150d4396a	121	imgcnt++;
shintamainjp	3:6d3150d4396a	122	func(imgcnt, length, c);
shintamainjp	3:6d3150d4396a	123	}
shintamainjp	3:6d3150d4396a	124
shintamainjp	3:6d3150d4396a	125	/*
shintamainjp	3:6d3150d4396a	126	* ACK
shintamainjp	3:6d3150d4396a	127	*/
shintamainjp	3:6d3150d4396a	128	en = sendAck(0x0A, 0x00);
shintamainjp	3:6d3150d4396a	129	if (NoError != en) {
shintamainjp	3:6d3150d4396a	130	return en;
shintamainjp	3:6d3150d4396a	131	}
shintamainjp	3:6d3150d4396a	132
shintamainjp	3:6d3150d4396a	133	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	134	}
shintamainjp	3:6d3150d4396a	135
shintamainjp	3:6d3150d4396a	136	/**
shintamainjp	4:ad06342d4b84	137	* Get uncompressed preview picture.
shintamainjp	3:6d3150d4396a	138	*
shintamainjp	3:6d3150d4396a	139	* @param func Pointer to a callback function.
shintamainjp	3:6d3150d4396a	140	* @return Status of the error.
shintamainjp	3:6d3150d4396a	141	*/
shintamainjp	3:6d3150d4396a	142	CameraC328::ErrorNumber CameraC328::getUncompressedPreviewPicture(void(*func)(size_t done, size_t total, char c)) {
shintamainjp	3:6d3150d4396a	143	ErrorNumber en;
shintamainjp	3:6d3150d4396a	144
shintamainjp	3:6d3150d4396a	145	en = sendGetPicture(PreviewPicture);
shintamainjp	3:6d3150d4396a	146	if (NoError != en) {
shintamainjp	3:6d3150d4396a	147	return en;
shintamainjp	3:6d3150d4396a	148	}
shintamainjp	3:6d3150d4396a	149	WAITFUNC();
shintamainjp	3:6d3150d4396a	150	en = recvAckOrNck();
shintamainjp	3:6d3150d4396a	151	if (NoError != en) {
shintamainjp	3:6d3150d4396a	152	return en;
shintamainjp	3:6d3150d4396a	153	}
shintamainjp	3:6d3150d4396a	154
shintamainjp	3:6d3150d4396a	155	/*
shintamainjp	3:6d3150d4396a	156	* image data
shintamainjp	3:6d3150d4396a	157	*/
shintamainjp	3:6d3150d4396a	158	DataType dt;
shintamainjp	3:6d3150d4396a	159	uint32_t length = 0;
shintamainjp	3:6d3150d4396a	160	WAITFUNC();
shintamainjp	3:6d3150d4396a	161	en = recvData(&dt, &length);
shintamainjp	3:6d3150d4396a	162	if (NoError != en) {
shintamainjp	3:6d3150d4396a	163	return en;
shintamainjp	3:6d3150d4396a	164	}
shintamainjp	3:6d3150d4396a	165	size_t imgcnt = 0;
shintamainjp	3:6d3150d4396a	166	for (int i = 0; i < (int)length; i++) {
shintamainjp	3:6d3150d4396a	167	char c;
shintamainjp	3:6d3150d4396a	168	WAITFUNC();
shintamainjp	3:6d3150d4396a	169	if (!RECVFUNC(&c, 1)) {
shintamainjp	3:6d3150d4396a	170	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	171	}
shintamainjp	3:6d3150d4396a	172	imgcnt++;
shintamainjp	3:6d3150d4396a	173	func(imgcnt, length, c);
shintamainjp	3:6d3150d4396a	174	}
shintamainjp	3:6d3150d4396a	175
shintamainjp	3:6d3150d4396a	176	/*
shintamainjp	3:6d3150d4396a	177	* ACK
shintamainjp	3:6d3150d4396a	178	*/
shintamainjp	3:6d3150d4396a	179	en = sendAck(0x0A, 0x00);
shintamainjp	3:6d3150d4396a	180	if (NoError != en) {
shintamainjp	3:6d3150d4396a	181	return en;
shintamainjp	3:6d3150d4396a	182	}
shintamainjp	3:6d3150d4396a	183
shintamainjp	3:6d3150d4396a	184	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	185	}
shintamainjp	3:6d3150d4396a	186
shintamainjp	4:ad06342d4b84	187	/**
shintamainjp	4:ad06342d4b84	188	* Get JPEG snapshot picture.
shintamainjp	4:ad06342d4b84	189	*
shintamainjp	4:ad06342d4b84	190	* @param func Pointer to a callback function.
shintamainjp	4:ad06342d4b84	191	* @return Status of the error.
shintamainjp	4:ad06342d4b84	192	*/
shintamainjp	4:ad06342d4b84	193	CameraC328::ErrorNumber CameraC328::getJpegSnapshotPicture(void(func)(char buf, size_t siz)) {
shintamainjp	4:ad06342d4b84	194
shintamainjp	4:ad06342d4b84	195	ErrorNumber en;
shintamainjp	4:ad06342d4b84	196
shintamainjp	4:ad06342d4b84	197	en = sendSnapshot(CompressedPicture, 1);
shintamainjp	4:ad06342d4b84	198	if (NoError != en) {
shintamainjp	4:ad06342d4b84	199	return en;
shintamainjp	4:ad06342d4b84	200	}
shintamainjp	4:ad06342d4b84	201	WAITFUNC();
shintamainjp	4:ad06342d4b84	202	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	203	if (NoError != en) {
shintamainjp	4:ad06342d4b84	204	return en;
shintamainjp	4:ad06342d4b84	205	}
shintamainjp	4:ad06342d4b84	206
shintamainjp	4:ad06342d4b84	207	en = sendGetPicture(SnapshotPicture);
shintamainjp	4:ad06342d4b84	208	if (NoError != en) {
shintamainjp	4:ad06342d4b84	209	return en;
shintamainjp	4:ad06342d4b84	210	}
shintamainjp	4:ad06342d4b84	211	WAITFUNC();
shintamainjp	4:ad06342d4b84	212	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	213	if (NoError != en) {
shintamainjp	4:ad06342d4b84	214	return en;
shintamainjp	4:ad06342d4b84	215	}
shintamainjp	4:ad06342d4b84	216
shintamainjp	4:ad06342d4b84	217	/*
shintamainjp	4:ad06342d4b84	218	* Data : snapshot picture
shintamainjp	4:ad06342d4b84	219	*/
shintamainjp	4:ad06342d4b84	220	DataType dt;
shintamainjp	4:ad06342d4b84	221	uint32_t length = 0;
shintamainjp	4:ad06342d4b84	222	WAITFUNC();
shintamainjp	4:ad06342d4b84	223	en = recvData(&dt, &length);
shintamainjp	4:ad06342d4b84	224	if (NoError != en) {
shintamainjp	4:ad06342d4b84	225	return en;
shintamainjp	4:ad06342d4b84	226	}
shintamainjp	4:ad06342d4b84	227	en = sendAck(0x00, 0);
shintamainjp	4:ad06342d4b84	228	if (NoError != en) {
shintamainjp	4:ad06342d4b84	229	return en;
shintamainjp	4:ad06342d4b84	230	}
shintamainjp	4:ad06342d4b84	231
shintamainjp	4:ad06342d4b84	232	WAITFUNC();
shintamainjp	4:ad06342d4b84	233
shintamainjp	4:ad06342d4b84	234	char databuf[packageSize - 6];
shintamainjp	4:ad06342d4b84	235	uint16_t pkg_total = length / (packageSize - 6);
shintamainjp	4:ad06342d4b84	236	for (int i = 0; i <= (int)pkg_total; i++) {
shintamainjp	4:ad06342d4b84	237	uint16_t checksum = 0;
shintamainjp	4:ad06342d4b84	238	// ID.
shintamainjp	4:ad06342d4b84	239	char idbuf[2];
shintamainjp	4:ad06342d4b84	240	if (!RECVFUNC(idbuf, sizeof(idbuf))) {
shintamainjp	4:ad06342d4b84	241	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	242	}
shintamainjp	4:ad06342d4b84	243	checksum += idbuf[0];
shintamainjp	4:ad06342d4b84	244	checksum += idbuf[1];
shintamainjp	4:ad06342d4b84	245	uint16_t id = (idbuf[1] << 8) \| (idbuf[0] << 0);
shintamainjp	4:ad06342d4b84	246	if (id != i) {
shintamainjp	4:ad06342d4b84	247	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	248	}
shintamainjp	4:ad06342d4b84	249
shintamainjp	4:ad06342d4b84	250	// Size of the data.
shintamainjp	4:ad06342d4b84	251	char dsbuf[2];
shintamainjp	4:ad06342d4b84	252	if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
shintamainjp	4:ad06342d4b84	253	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	254	}
shintamainjp	4:ad06342d4b84	255
shintamainjp	4:ad06342d4b84	256	// Received the data.
shintamainjp	4:ad06342d4b84	257	checksum += dsbuf[0];
shintamainjp	4:ad06342d4b84	258	checksum += dsbuf[1];
shintamainjp	4:ad06342d4b84	259	uint16_t ds = (dsbuf[1] << 8) \| (dsbuf[0] << 0);
shintamainjp	4:ad06342d4b84	260	if (!RECVFUNC(&databuf[0], ds)) {
shintamainjp	4:ad06342d4b84	261	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	262	}
shintamainjp	4:ad06342d4b84	263	for (int j = 0; j < ds; j++) {
shintamainjp	4:ad06342d4b84	264	checksum += databuf[j];
shintamainjp	4:ad06342d4b84	265	}
shintamainjp	4:ad06342d4b84	266
shintamainjp	4:ad06342d4b84	267	// Verify code.
shintamainjp	4:ad06342d4b84	268	char vcbuf[2];
shintamainjp	4:ad06342d4b84	269	if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
shintamainjp	4:ad06342d4b84	270	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	271	}
shintamainjp	4:ad06342d4b84	272	uint16_t vc = (vcbuf[1] << 8) \| (vcbuf[0] << 0);
shintamainjp	4:ad06342d4b84	273	if (vc != (checksum & 0xff)) {
shintamainjp	4:ad06342d4b84	274	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	275	}
shintamainjp	4:ad06342d4b84	276
shintamainjp	4:ad06342d4b84	277	func(databuf, ds);
shintamainjp	4:ad06342d4b84	278
shintamainjp	4:ad06342d4b84	279	en = sendAck(0x00, 1 + i);
shintamainjp	4:ad06342d4b84	280	if (NoError != en) {
shintamainjp	4:ad06342d4b84	281	return en;
shintamainjp	4:ad06342d4b84	282	}
shintamainjp	4:ad06342d4b84	283	}
shintamainjp	4:ad06342d4b84	284
shintamainjp	4:ad06342d4b84	285	return (ErrorNumber)NoError;
shintamainjp	4:ad06342d4b84	286	}
shintamainjp	4:ad06342d4b84	287
shintamainjp	4:ad06342d4b84	288	/**
shintamainjp	4:ad06342d4b84	289	* Get JPEG preview picture.
shintamainjp	4:ad06342d4b84	290	*
shintamainjp	4:ad06342d4b84	291	* @param func Pointer to a callback function.
shintamainjp	4:ad06342d4b84	292	* @return Status of the error.
shintamainjp	4:ad06342d4b84	293	*/
shintamainjp	4:ad06342d4b84	294	CameraC328::ErrorNumber CameraC328::getJpegPreviewPicture(void(func)(char buf, size_t siz)) {
shintamainjp	4:ad06342d4b84	295
shintamainjp	4:ad06342d4b84	296	ErrorNumber en;
shintamainjp	4:ad06342d4b84	297
shintamainjp	4:ad06342d4b84	298	en = sendGetPicture(JpegPreviewPicture);
shintamainjp	4:ad06342d4b84	299	if (NoError != en) {
shintamainjp	4:ad06342d4b84	300	return en;
shintamainjp	4:ad06342d4b84	301	}
shintamainjp	4:ad06342d4b84	302	WAITFUNC();
shintamainjp	4:ad06342d4b84	303	en = recvAckOrNck();
shintamainjp	4:ad06342d4b84	304	if (NoError != en) {
shintamainjp	4:ad06342d4b84	305	return en;
shintamainjp	4:ad06342d4b84	306	}
shintamainjp	4:ad06342d4b84	307
shintamainjp	4:ad06342d4b84	308	/*
shintamainjp	4:ad06342d4b84	309	* Data : JPEG preview picture
shintamainjp	4:ad06342d4b84	310	*/
shintamainjp	4:ad06342d4b84	311	DataType dt;
shintamainjp	4:ad06342d4b84	312	uint32_t length = 0;
shintamainjp	4:ad06342d4b84	313	WAITFUNC();
shintamainjp	4:ad06342d4b84	314	en = recvData(&dt, &length);
shintamainjp	4:ad06342d4b84	315	if (NoError != en) {
shintamainjp	4:ad06342d4b84	316	return en;
shintamainjp	4:ad06342d4b84	317	}
shintamainjp	4:ad06342d4b84	318	en = sendAck(0x00, 0);
shintamainjp	4:ad06342d4b84	319	if (NoError != en) {
shintamainjp	4:ad06342d4b84	320	return en;
shintamainjp	4:ad06342d4b84	321	}
shintamainjp	4:ad06342d4b84	322
shintamainjp	4:ad06342d4b84	323	WAITFUNC();
shintamainjp	4:ad06342d4b84	324
shintamainjp	4:ad06342d4b84	325	char databuf[packageSize - 6];
shintamainjp	4:ad06342d4b84	326	uint16_t pkg_total = length / (packageSize - 6);
shintamainjp	4:ad06342d4b84	327	for (int i = 0; i <= (int)pkg_total; i++) {
shintamainjp	4:ad06342d4b84	328	uint16_t checksum = 0;
shintamainjp	4:ad06342d4b84	329	// ID.
shintamainjp	4:ad06342d4b84	330	char idbuf[2];
shintamainjp	4:ad06342d4b84	331	if (!RECVFUNC(idbuf, sizeof(idbuf))) {
shintamainjp	4:ad06342d4b84	332	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	333	}
shintamainjp	4:ad06342d4b84	334	checksum += idbuf[0];
shintamainjp	4:ad06342d4b84	335	checksum += idbuf[1];
shintamainjp	4:ad06342d4b84	336	uint16_t id = (idbuf[1] << 8) \| (idbuf[0] << 0);
shintamainjp	4:ad06342d4b84	337	if (id != i) {
shintamainjp	4:ad06342d4b84	338	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	339	}
shintamainjp	4:ad06342d4b84	340
shintamainjp	4:ad06342d4b84	341	// Size of the data.
shintamainjp	4:ad06342d4b84	342	char dsbuf[2];
shintamainjp	4:ad06342d4b84	343	if (!RECVFUNC(dsbuf, sizeof(dsbuf))) {
shintamainjp	4:ad06342d4b84	344	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	345	}
shintamainjp	4:ad06342d4b84	346
shintamainjp	4:ad06342d4b84	347	// Received the data.
shintamainjp	4:ad06342d4b84	348	checksum += dsbuf[0];
shintamainjp	4:ad06342d4b84	349	checksum += dsbuf[1];
shintamainjp	4:ad06342d4b84	350	uint16_t ds = (dsbuf[1] << 8) \| (dsbuf[0] << 0);
shintamainjp	4:ad06342d4b84	351	if (!RECVFUNC(&databuf[0], ds)) {
shintamainjp	4:ad06342d4b84	352	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	353	}
shintamainjp	4:ad06342d4b84	354	for (int j = 0; j < ds; j++) {
shintamainjp	4:ad06342d4b84	355	checksum += databuf[j];
shintamainjp	4:ad06342d4b84	356	}
shintamainjp	4:ad06342d4b84	357
shintamainjp	4:ad06342d4b84	358	// Verify code.
shintamainjp	4:ad06342d4b84	359	char vcbuf[2];
shintamainjp	4:ad06342d4b84	360	if (!RECVFUNC(vcbuf, sizeof(vcbuf))) {
shintamainjp	4:ad06342d4b84	361	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	362	}
shintamainjp	4:ad06342d4b84	363	uint16_t vc = (vcbuf[1] << 8) \| (vcbuf[0] << 0);
shintamainjp	4:ad06342d4b84	364	if (vc != (checksum & 0xff)) {
shintamainjp	4:ad06342d4b84	365	return (ErrorNumber)UnexpectedReply;
shintamainjp	4:ad06342d4b84	366	}
shintamainjp	4:ad06342d4b84	367
shintamainjp	4:ad06342d4b84	368	func(databuf, ds);
shintamainjp	4:ad06342d4b84	369
shintamainjp	4:ad06342d4b84	370	en = sendAck(0x00, 1 + i);
shintamainjp	4:ad06342d4b84	371	if (NoError != en) {
shintamainjp	4:ad06342d4b84	372	return en;
shintamainjp	4:ad06342d4b84	373	}
shintamainjp	4:ad06342d4b84	374	}
shintamainjp	4:ad06342d4b84	375
shintamainjp	4:ad06342d4b84	376	return (ErrorNumber)NoError;
shintamainjp	4:ad06342d4b84	377	}
shintamainjp	4:ad06342d4b84	378
shintamainjp	3:6d3150d4396a	379	CameraC328::ErrorNumber CameraC328::sendInitial(ColorType ct, RawResolution rr, JpegResolution jr) {
shintamainjp	2:6a72fcad5c0a	380	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	381
shintamainjp	2:6a72fcad5c0a	382	send[0] = 0xAA;
shintamainjp	2:6a72fcad5c0a	383	send[1] = 0x01;
shintamainjp	2:6a72fcad5c0a	384	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	385	send[3] = (char)ct;
shintamainjp	2:6a72fcad5c0a	386	send[4] = (char)rr;
shintamainjp	2:6a72fcad5c0a	387	send[5] = (char)jr;
shintamainjp	2:6a72fcad5c0a	388
shintamainjp	2:6a72fcad5c0a	389	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	390	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	391	}
shintamainjp	2:6a72fcad5c0a	392	return (ErrorNumber)NoError;
shintamainjp	2:6a72fcad5c0a	393	}
shintamainjp	2:6a72fcad5c0a	394
shintamainjp	3:6d3150d4396a	395	CameraC328::ErrorNumber CameraC328::sendGetPicture(PictureType pt) {
shintamainjp	2:6a72fcad5c0a	396	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	397
shintamainjp	2:6a72fcad5c0a	398	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	399	send[1] = 0x04;
shintamainjp	3:6d3150d4396a	400	send[2] = (char)pt;
shintamainjp	2:6a72fcad5c0a	401	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	402	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	403	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	404
shintamainjp	2:6a72fcad5c0a	405	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	406	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	407	}
shintamainjp	3:6d3150d4396a	408	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	409	}
shintamainjp	3:6d3150d4396a	410
shintamainjp	3:6d3150d4396a	411	CameraC328::ErrorNumber CameraC328::sendSnapshot(SnapshotType st, uint16_t skipFrames) {
shintamainjp	3:6d3150d4396a	412	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	413	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	414	send[1] = 0x05;
shintamainjp	3:6d3150d4396a	415	send[2] = (char)st;
shintamainjp	3:6d3150d4396a	416	send[3] = (skipFrames >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	417	send[4] = (skipFrames >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	418	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	419
shintamainjp	3:6d3150d4396a	420	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	421	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	422	}
shintamainjp	3:6d3150d4396a	423	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	424	}
shintamainjp	3:6d3150d4396a	425
shintamainjp	3:6d3150d4396a	426	CameraC328::ErrorNumber CameraC328::sendSetPackageSize(uint16_t packageSize) {
shintamainjp	3:6d3150d4396a	427	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	428	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	429	send[1] = 0x06;
shintamainjp	3:6d3150d4396a	430	send[2] = 0x08;
shintamainjp	3:6d3150d4396a	431	send[3] = (packageSize >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	432	send[4] = (packageSize >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	433	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	434
shintamainjp	3:6d3150d4396a	435	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	436	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	437	}
shintamainjp	3:6d3150d4396a	438	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	439	}
shintamainjp	3:6d3150d4396a	440
shintamainjp	3:6d3150d4396a	441	CameraC328::ErrorNumber CameraC328::sendSetBaudrate(Baud baud) {
shintamainjp	3:6d3150d4396a	442	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	443
shintamainjp	3:6d3150d4396a	444	static struct baud_list {
shintamainjp	3:6d3150d4396a	445	Baud baud;
shintamainjp	3:6d3150d4396a	446	uint8_t div1st;
shintamainjp	3:6d3150d4396a	447	uint8_t div2nd;
shintamainjp	3:6d3150d4396a	448	} baudtable [] = {
shintamainjp	3:6d3150d4396a	449	{ Baud7200, 0xff, 0x01 },
shintamainjp	3:6d3150d4396a	450	{ Baud9600, 0xbf, 0x01 },
shintamainjp	3:6d3150d4396a	451	{ Baud14400, 0x7f, 0x01 },
shintamainjp	3:6d3150d4396a	452	{ Baud19200, 0x5f, 0x01 },
shintamainjp	3:6d3150d4396a	453	{ Baud28800, 0x3f, 0x01 },
shintamainjp	3:6d3150d4396a	454	{ Baud38400, 0x2f, 0x01 },
shintamainjp	3:6d3150d4396a	455	{ Baud57600, 0x1f, 0x01 },
shintamainjp	3:6d3150d4396a	456	{ Baud115200, 0x0f, 0x01 }
shintamainjp	3:6d3150d4396a	457	};
shintamainjp	3:6d3150d4396a	458
shintamainjp	3:6d3150d4396a	459	uint8_t div1st = 0x00, div2nd = 0x00;
shintamainjp	3:6d3150d4396a	460	struct baud_list *p = &baudtable[0];
shintamainjp	3:6d3150d4396a	461	for (int i = 0; i < sizeof(baudtable) / sizeof(baudtable[0]); i++) {
shintamainjp	3:6d3150d4396a	462	if (p->baud == baud) {
shintamainjp	3:6d3150d4396a	463	div1st = p->div1st;
shintamainjp	3:6d3150d4396a	464	div2nd = p->div2nd;
shintamainjp	3:6d3150d4396a	465	}
shintamainjp	3:6d3150d4396a	466	p++;
shintamainjp	2:6a72fcad5c0a	467	}
shintamainjp	2:6a72fcad5c0a	468
shintamainjp	3:6d3150d4396a	469	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	470	send[1] = 0x07;
shintamainjp	3:6d3150d4396a	471	send[2] = div1st;
shintamainjp	3:6d3150d4396a	472	send[3] = div2nd;
shintamainjp	3:6d3150d4396a	473	send[4] = 0x00;
shintamainjp	3:6d3150d4396a	474	send[5] = 0x00;
shintamainjp	3:6d3150d4396a	475
shintamainjp	3:6d3150d4396a	476	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	477	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	478	}
shintamainjp	3:6d3150d4396a	479
shintamainjp	3:6d3150d4396a	480	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	481	}
shintamainjp	3:6d3150d4396a	482
shintamainjp	3:6d3150d4396a	483	CameraC328::ErrorNumber CameraC328::sendReset(ResetType rt, bool specialReset) {
shintamainjp	3:6d3150d4396a	484	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	485	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	486	send[1] = 0x08;
shintamainjp	3:6d3150d4396a	487	send[2] = (int)rt;
shintamainjp	3:6d3150d4396a	488	send[3] = 0x00;
shintamainjp	3:6d3150d4396a	489	send[4] = 0x00;
shintamainjp	3:6d3150d4396a	490	send[5] = specialReset ? 0xff : 0x00;
shintamainjp	2:6a72fcad5c0a	491	/*
shintamainjp	3:6d3150d4396a	492	* Special reset : If the parameter is 0xFF, the command is a special Reset command and the firmware responds to it immediately.
shintamainjp	2:6a72fcad5c0a	493	*/
shintamainjp	2:6a72fcad5c0a	494
shintamainjp	3:6d3150d4396a	495	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	496	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	497	}
shintamainjp	3:6d3150d4396a	498
shintamainjp	3:6d3150d4396a	499	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	500	}
shintamainjp	3:6d3150d4396a	501
shintamainjp	3:6d3150d4396a	502	CameraC328::ErrorNumber CameraC328::sendPowerOff() {
shintamainjp	3:6d3150d4396a	503	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	504	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	505	send[1] = 0x09;
shintamainjp	3:6d3150d4396a	506	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	507	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	508	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	509	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	510
shintamainjp	2:6a72fcad5c0a	511	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	512	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	513	}
shintamainjp	2:6a72fcad5c0a	514
shintamainjp	3:6d3150d4396a	515	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	516	}
shintamainjp	3:6d3150d4396a	517
shintamainjp	3:6d3150d4396a	518	CameraC328::ErrorNumber CameraC328::recvData(DataType dt, uint32_t length) {
shintamainjp	3:6d3150d4396a	519	char recv[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	520	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	2:6a72fcad5c0a	521	return (ErrorNumber)UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	522	}
shintamainjp	2:6a72fcad5c0a	523	if ((0xAA != recv[0]) \|\| (0x0A != recv[1])) {
shintamainjp	3:6d3150d4396a	524	return (ErrorNumber)UnexpectedReply;
shintamainjp	2:6a72fcad5c0a	525	}
shintamainjp	3:6d3150d4396a	526	*dt = (DataType)recv[2];
shintamainjp	3:6d3150d4396a	527	*length = (recv[5] << 16) \| (recv[4] << 8) \| (recv[3] << 0);
shintamainjp	3:6d3150d4396a	528	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	529	}
shintamainjp	2:6a72fcad5c0a	530
shintamainjp	3:6d3150d4396a	531	CameraC328::ErrorNumber CameraC328::sendSync() {
shintamainjp	3:6d3150d4396a	532	char send[COMMAND_LENGTH];
shintamainjp	2:6a72fcad5c0a	533	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	534	send[1] = 0x0D;
shintamainjp	3:6d3150d4396a	535	send[2] = 0x00;
shintamainjp	2:6a72fcad5c0a	536	send[3] = 0x00;
shintamainjp	2:6a72fcad5c0a	537	send[4] = 0x00;
shintamainjp	2:6a72fcad5c0a	538	send[5] = 0x00;
shintamainjp	2:6a72fcad5c0a	539	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	2:6a72fcad5c0a	540	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	2:6a72fcad5c0a	541	}
shintamainjp	3:6d3150d4396a	542	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	543	}
shintamainjp	2:6a72fcad5c0a	544
shintamainjp	3:6d3150d4396a	545	CameraC328::ErrorNumber CameraC328::recvSync() {
shintamainjp	3:6d3150d4396a	546	char recv[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	547	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	3:6d3150d4396a	548	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	549	}
shintamainjp	3:6d3150d4396a	550	if ((0xAA != recv[0]) \|\| (0x0D != recv[1])) {
shintamainjp	3:6d3150d4396a	551	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	552	}
shintamainjp	2:6a72fcad5c0a	553	return (ErrorNumber)NoError;
shintamainjp	2:6a72fcad5c0a	554	}
shintamainjp	2:6a72fcad5c0a	555
shintamainjp	2:6a72fcad5c0a	556	/**
shintamainjp	3:6d3150d4396a	557	* Send ACK.
shintamainjp	3:6d3150d4396a	558	*
shintamainjp	3:6d3150d4396a	559	* @param commandId The command with that ID is acknowledged by this command.
shintamainjp	3:6d3150d4396a	560	* @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	561	*/
shintamainjp	3:6d3150d4396a	562	CameraC328::ErrorNumber CameraC328::sendAck(uint8_t commandId, uint16_t packageId) {
shintamainjp	3:6d3150d4396a	563	char send[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	564	send[0] = 0xAA;
shintamainjp	3:6d3150d4396a	565	send[1] = 0x0E;
shintamainjp	3:6d3150d4396a	566	send[2] = commandId;
shintamainjp	3:6d3150d4396a	567	send[3] = 0x00; // ACK counter is not used.
shintamainjp	3:6d3150d4396a	568	send[4] = (packageId >> 0) & 0xff;
shintamainjp	3:6d3150d4396a	569	send[5] = (packageId >> 8) & 0xff;
shintamainjp	3:6d3150d4396a	570	if (!SENDFUNC(send, sizeof(send))) {
shintamainjp	3:6d3150d4396a	571	return (ErrorNumber)SendRegisterTimeout;
shintamainjp	3:6d3150d4396a	572	}
shintamainjp	3:6d3150d4396a	573	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	574	}
shintamainjp	3:6d3150d4396a	575
shintamainjp	3:6d3150d4396a	576	/**
shintamainjp	3:6d3150d4396a	577	* Receive ACK or NCK.
shintamainjp	3:6d3150d4396a	578	*
shintamainjp	3:6d3150d4396a	579	* @return Error number.
shintamainjp	3:6d3150d4396a	580	*/
shintamainjp	3:6d3150d4396a	581	CameraC328::ErrorNumber CameraC328::recvAckOrNck() {
shintamainjp	3:6d3150d4396a	582	char recv[COMMAND_LENGTH];
shintamainjp	3:6d3150d4396a	583	if (!RECVFUNC(recv, sizeof(recv))) {
shintamainjp	3:6d3150d4396a	584	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	585	}
shintamainjp	3:6d3150d4396a	586	if ((0xAA == recv[0]) && (0x0E == recv[1])) {
shintamainjp	3:6d3150d4396a	587	return (ErrorNumber)NoError;
shintamainjp	3:6d3150d4396a	588	}
shintamainjp	3:6d3150d4396a	589	if ((0xAA == recv[0]) && (0x0F == recv[1])) {
shintamainjp	3:6d3150d4396a	590	return (ErrorNumber)recv[4];
shintamainjp	3:6d3150d4396a	591	}
shintamainjp	3:6d3150d4396a	592	return (ErrorNumber)UnexpectedReply;
shintamainjp	3:6d3150d4396a	593	}
shintamainjp	3:6d3150d4396a	594
shintamainjp	3:6d3150d4396a	595	/**
shintamainjp	2:6a72fcad5c0a	596	* Send bytes to camera module.
shintamainjp	2:6a72fcad5c0a	597	*
shintamainjp	2:6a72fcad5c0a	598	* @param buf Pointer to the data buffer.
shintamainjp	2:6a72fcad5c0a	599	* @param len Length of the data buffer.
shintamainjp	2:6a72fcad5c0a	600	*
shintamainjp	2:6a72fcad5c0a	601	* @return True if the data sended.
shintamainjp	2:6a72fcad5c0a	602	*/
shintamainjp	3:6d3150d4396a	603	bool CameraC328::sendBytes(char *buf, size_t len, int timeout_us) {
shintamainjp	2:6a72fcad5c0a	604	for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp	2:6a72fcad5c0a	605	int cnt = 0;
shintamainjp	2:6a72fcad5c0a	606	while (!serial.writeable()) {
shintamainjp	3:6d3150d4396a	607	wait_us(1);
shintamainjp	2:6a72fcad5c0a	608	cnt++;
shintamainjp	3:6d3150d4396a	609	if (timeout_us < cnt) {
shintamainjp	2:6a72fcad5c0a	610	return false;
shintamainjp	2:6a72fcad5c0a	611	}
shintamainjp	2:6a72fcad5c0a	612	}
shintamainjp	2:6a72fcad5c0a	613	serial.putc(buf[i]);
shintamainjp	2:6a72fcad5c0a	614	}
shintamainjp	2:6a72fcad5c0a	615	return true;
shintamainjp	2:6a72fcad5c0a	616	}
shintamainjp	2:6a72fcad5c0a	617
shintamainjp	2:6a72fcad5c0a	618	/**
shintamainjp	2:6a72fcad5c0a	619	* Receive bytes from camera module.
shintamainjp	2:6a72fcad5c0a	620	*
shintamainjp	2:6a72fcad5c0a	621	* @param buf Pointer to the data buffer.
shintamainjp	2:6a72fcad5c0a	622	* @param len Length of the data buffer.
shintamainjp	2:6a72fcad5c0a	623	*
shintamainjp	2:6a72fcad5c0a	624	* @return True if the data received.
shintamainjp	2:6a72fcad5c0a	625	*/
shintamainjp	3:6d3150d4396a	626	bool CameraC328::recvBytes(char *buf, size_t len, int timeout_us) {
shintamainjp	2:6a72fcad5c0a	627	for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp	2:6a72fcad5c0a	628	int cnt = 0;
shintamainjp	2:6a72fcad5c0a	629	while (!serial.readable()) {
shintamainjp	3:6d3150d4396a	630	wait_us(1);
shintamainjp	2:6a72fcad5c0a	631	cnt++;
shintamainjp	3:6d3150d4396a	632	if (timeout_us < cnt) {
shintamainjp	2:6a72fcad5c0a	633	return false;
shintamainjp	2:6a72fcad5c0a	634	}
shintamainjp	2:6a72fcad5c0a	635	}
shintamainjp	2:6a72fcad5c0a	636	buf[i] = serial.getc();
shintamainjp	2:6a72fcad5c0a	637	}
shintamainjp	2:6a72fcad5c0a	638	return true;
shintamainjp	2:6a72fcad5c0a	639	}
shintamainjp	3:6d3150d4396a	640
shintamainjp	3:6d3150d4396a	641	/**
shintamainjp	3:6d3150d4396a	642	* Wait received.
shintamainjp	3:6d3150d4396a	643	*
shintamainjp	3:6d3150d4396a	644	* @return True if the data received.
shintamainjp	3:6d3150d4396a	645	*/
shintamainjp	3:6d3150d4396a	646	bool CameraC328::waitRecv() {
shintamainjp	3:6d3150d4396a	647	while (!serial.readable()) {
shintamainjp	3:6d3150d4396a	648	}
shintamainjp	3:6d3150d4396a	649	return true;
shintamainjp	3:6d3150d4396a	650	}

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Type:	Library
Created:	27 Jun 2010
Imports:	223
Forks:	1
Commits:	16
Dependents:	15
Dependencies:	0
Followers:	8

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CameraC328

CameraC328.cpp@4:ad06342d4b84, 2010-06-29 (annotated)

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