/* Get a frame from the camera.
Serial protocol char: I */
void get_frame () {
unsigned char ch;
move_image((unsigned char *)DMA_BUF1, (unsigned char *)DMA_BUF2, (unsigned char *)FRAME_BUF, imgWidth, imgHeight);
if (overlay_flag) {
frame[9] = (framecount % 10) + 0x30;
frame[8] = ((framecount/10)% 10) + 0x30;
frame[7] = ((framecount/100)% 10) + 0x30;
set_caption(frame, imgWidth);
}
output_start = (unsigned char *)JPEG_BUF;
output_end = encode_image((unsigned char *)FRAME_BUF,
output_start, quality, FOUR_TWO_TWO, imgWidth, imgHeight);
image_size = (unsigned int)(output_end - output_start);
led1_on();
framecount++;
uart0SendString(imgHead);
uart0SendChar((unsigned char)(image_size & 0x000000FF));
uart0SendChar((unsigned char)((image_size & 0x0000FF00) >> 8));
uart0SendChar((unsigned char)((image_size & 0x00FF0000) >> 16));
uart0SendChar(0x00);
cp = (unsigned char *)JPEG_BUF;
for (i=0; i<image_size; i++) {
while (*pPORTHIO & 0x0001) {
continue;
}
uart0SendChar(*cp++);
}
while (uart0GetChar(&ch)) {
// flush input
continue;
}
}
/*****************************************************************************
*
* Description:
* Routine for printing integer numbers in various formats. The number is
* printed in the specified 'base' using exactly 'noDigits', using +/- if
* signed flag 'sign' is TRUE, and using the character specified in 'pad'
* to pad extra characters.
*
* Params:
* [in] base - Base to print number in (2-16)
* [in] noDigits - Number of digits to print (max 32)
* [in] sign - Flag if sign is to be used (TRUE), or not (FALSE)
* [in] pad - Character to pad any unused positions
* [in] number - Signed number to print
*
****************************************************************************/
void
printNumber(unsigned char base,
unsigned char noDigits,
unsigned char sign,
unsigned char pad,
int number)
{
static unsigned char hexChars[16] = "0123456789ABCDEF";
unsigned char *pBuf;
unsigned char buf[32];
unsigned int numberAbs;
unsigned int count;
// prepare negative number
if(sign && (number < 0))
numberAbs = -number;
else
numberAbs = number;
// setup little string buffer
count = (noDigits - 1) - (sign ? 1 : 0);
pBuf = buf + sizeof(buf);
*--pBuf = '\0';
// force calculation of first digit
// (to prevent zero from not printing at all!!!)
*--pBuf = hexChars[(numberAbs % base)];
numberAbs /= base;
// calculate remaining digits
while(count--)
{
if(numberAbs != 0)
{
//calculate next digit
*--pBuf = hexChars[(numberAbs % base)];
numberAbs /= base;
}
else
// no more digits left, pad out to desired length
*--pBuf = pad;
}
// apply signed notation if requested
if(sign)
{
if(number < 0)
*--pBuf = '-';
else if(number > 0)
*--pBuf = '+';
else
*--pBuf = ' ';
}
// print the string right-justified
uart0SendString(pBuf);
}
/* Dump flash buffer to serial
Serial protocol char: z-d */
void serial_out_flashbuffer () {
uart0SendString((unsigned char *)"##zdump: \n");
cp = (unsigned char *)FLASH_BUFFER;
for (i=0; i < FLASH_BUFFER_EXTENT ; i++) {
while (*pPORTHIO & 0x0001)
continue;
if (*cp == 0)
return;
uart0SendChar(*cp++);
}
}
void sntx_err(int error)
{
char *p, *temp;
int linecount = 1;
int i;
static char *e[]= {
"syntax error",
"unbalanced parentheses",
"no expression present",
"equals sign expected",
"not a variable",
"parameter error",
"semicolon expected",
"unbalanced braces",
"function undefined",
"type specifier expected",
"too many nested function calls",
"return without call",
"parentheses expected",
"while expected",
"closing quote expected",
"not a string",
"too many local variables",
};
uart0SendString(e[error]);
p = p_buf;
while(p != prog) {
p++;
if(*p == '\n')
linecount++;
}
uart0SendString(" in line ");
printNumber(10, 8, FALSE, ' ', linecount);
uart0SendChar('\n');
temp = p;
for(i=0; i<20 && p>p_buf && *p!='\n'; i++, p--);
for(i=0; i<30 && p<=temp; i++, p++) uart0SendChar(*p);
}
void print()
{
int i;
start_check();
get_token();
while(*token !=')') {
if(token_type==STRING) {
uart0SendString(token);
} else {
putback();
eval_exp(&i);
printNumber(10, 10, FALSE, ' ', i);
}
get_token();
}
uart0SendChar('\n');
get_token();
if(*token!=';')
sntx_err(SEMI_EXPECTED);
putback();
}
/* Get current time
Serial protocol char: t */
void serial_out_time () {
uart0SendString((unsigned char *)"time[ms]: ");
printNumber(10, 10, 0, ' ', readRTC());
uart0SendChar('\n');
}
/* Get frame count.
Serial protocol char: f */
void serial_out_framecount () {
uart0SendString((unsigned char *)"framecount: ");
printNumber(10, 8, 0, ' ', framecount);
uart0SendChar('\n');
}
/* SRV-1 Firmware Version Request
Serial protocol char: V */
void serial_out_version () {
uart0SendString((unsigned char *)"Version - ");
uart0SendString((unsigned char *)version_string);
uart0SendChar('\n');
}
/* Turn image overlay off.
Serial protocol char: O */
void overlay_off () {
overlay_flag = 0;
QUIET(uart0SendString("#O"));
}
/* Turn image overlay on.
Serial protocol char: o */
void overlay_on () {
overlay_flag = 1;
QUIET(uart0SendString("#o"));
}
/* Turn lasers off
Serial protocol char: L */
void lasers_off () {
*pPORTHIO &= 0xFC7F;
QUIET(uart0SendString("#L"));
}
/* Turn lasers on
Serial protocol char: l */
void lasers_on () {
*pPORTHIO |= 0x0380;
QUIET(uart0SendString("#l"));
}
