Mbed1 for Smart House project
Dependencies: SDFileSystem Servo mbed
Fork of Camera_LS_Y201 by
Camera_LS_Y201.cpp@2:ab75a8c63df8, 2013-05-01 (annotated)
- Committer:
- Jgreub
- Date:
- Wed May 01 18:41:05 2013 +0000
- Revision:
- 2:ab75a8c63df8
- Parent:
- 1:43358d40f879
v1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shintamainjp | 0:f71232252dcf | 1 | /** |
shintamainjp | 0:f71232252dcf | 2 | * ============================================================================= |
shintamainjp | 0:f71232252dcf | 3 | * LS-Y201 device driver class (Version 0.0.1) |
shintamainjp | 0:f71232252dcf | 4 | * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface |
shintamainjp | 0:f71232252dcf | 5 | * January 2010 |
shintamainjp | 0:f71232252dcf | 6 | * ============================================================================= |
shintamainjp | 0:f71232252dcf | 7 | * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems) |
shintamainjp | 0:f71232252dcf | 8 | * |
shintamainjp | 0:f71232252dcf | 9 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
shintamainjp | 0:f71232252dcf | 10 | * of this software and associated documentation files (the "Software"), to deal |
shintamainjp | 0:f71232252dcf | 11 | * in the Software without restriction, including without limitation the rights |
shintamainjp | 0:f71232252dcf | 12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
shintamainjp | 0:f71232252dcf | 13 | * copies of the Software, and to permit persons to whom the Software is |
shintamainjp | 0:f71232252dcf | 14 | * furnished to do so, subject to the following conditions: |
shintamainjp | 0:f71232252dcf | 15 | * |
shintamainjp | 0:f71232252dcf | 16 | * The above copyright notice and this permission notice shall be included in |
shintamainjp | 0:f71232252dcf | 17 | * all copies or substantial portions of the Software. |
shintamainjp | 0:f71232252dcf | 18 | * |
shintamainjp | 0:f71232252dcf | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
shintamainjp | 0:f71232252dcf | 20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
shintamainjp | 0:f71232252dcf | 21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
shintamainjp | 0:f71232252dcf | 22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
shintamainjp | 0:f71232252dcf | 23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
shintamainjp | 0:f71232252dcf | 24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
shintamainjp | 0:f71232252dcf | 25 | * THE SOFTWARE. |
shintamainjp | 0:f71232252dcf | 26 | * ============================================================================= |
shintamainjp | 0:f71232252dcf | 27 | */ |
shintamainjp | 0:f71232252dcf | 28 | |
shintamainjp | 0:f71232252dcf | 29 | #include "Camera_LS_Y201.h" |
shintamainjp | 0:f71232252dcf | 30 | |
shintamainjp | 0:f71232252dcf | 31 | /** |
shintamainjp | 0:f71232252dcf | 32 | * Create. |
shintamainjp | 0:f71232252dcf | 33 | * |
shintamainjp | 0:f71232252dcf | 34 | * @param tx Transmitter. |
shintamainjp | 0:f71232252dcf | 35 | * @param rx Receiver. |
shintamainjp | 0:f71232252dcf | 36 | */ |
shintamainjp | 0:f71232252dcf | 37 | Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx) : serial(tx, rx) { |
shintamainjp | 0:f71232252dcf | 38 | serial.baud(38400); |
shintamainjp | 0:f71232252dcf | 39 | } |
shintamainjp | 0:f71232252dcf | 40 | |
shintamainjp | 0:f71232252dcf | 41 | /** |
shintamainjp | 0:f71232252dcf | 42 | * Dispose. |
shintamainjp | 0:f71232252dcf | 43 | */ |
shintamainjp | 0:f71232252dcf | 44 | Camera_LS_Y201::~Camera_LS_Y201() { |
shintamainjp | 0:f71232252dcf | 45 | } |
shintamainjp | 0:f71232252dcf | 46 | |
shintamainjp | 0:f71232252dcf | 47 | /** |
shintamainjp | 0:f71232252dcf | 48 | * Reset module. |
shintamainjp | 0:f71232252dcf | 49 | * |
shintamainjp | 0:f71232252dcf | 50 | * @return Error code. |
shintamainjp | 0:f71232252dcf | 51 | */ |
shintamainjp | 0:f71232252dcf | 52 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() { |
shintamainjp | 0:f71232252dcf | 53 | uint8_t send[4] = { |
shintamainjp | 0:f71232252dcf | 54 | 0x56, |
shintamainjp | 0:f71232252dcf | 55 | 0x00, |
shintamainjp | 0:f71232252dcf | 56 | 0x26, |
shintamainjp | 0:f71232252dcf | 57 | 0x00 |
shintamainjp | 0:f71232252dcf | 58 | }; |
shintamainjp | 0:f71232252dcf | 59 | uint8_t recv[4]; |
shintamainjp | 0:f71232252dcf | 60 | |
shintamainjp | 0:f71232252dcf | 61 | waitIdle(); |
shintamainjp | 0:f71232252dcf | 62 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 63 | return SendError; |
shintamainjp | 0:f71232252dcf | 64 | } |
shintamainjp | 0:f71232252dcf | 65 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 66 | return RecvError; |
shintamainjp | 0:f71232252dcf | 67 | } |
shintamainjp | 0:f71232252dcf | 68 | if ((recv[0] == 0x76) |
shintamainjp | 0:f71232252dcf | 69 | && (recv[1] == 0x00) |
shintamainjp | 0:f71232252dcf | 70 | && (recv[2] == 0x26) |
shintamainjp | 0:f71232252dcf | 71 | && (recv[3] == 0x00)) { |
shintamainjp | 0:f71232252dcf | 72 | ErrorCode r = waitInitEnd(); |
shintamainjp | 0:f71232252dcf | 73 | if (r != NoError) { |
shintamainjp | 0:f71232252dcf | 74 | return r; |
shintamainjp | 0:f71232252dcf | 75 | } |
shintamainjp | 0:f71232252dcf | 76 | wait(4); |
shintamainjp | 0:f71232252dcf | 77 | return NoError; |
shintamainjp | 0:f71232252dcf | 78 | } else { |
shintamainjp | 0:f71232252dcf | 79 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 80 | } |
shintamainjp | 0:f71232252dcf | 81 | } |
shintamainjp | 0:f71232252dcf | 82 | |
shintamainjp | 0:f71232252dcf | 83 | /** |
shintamainjp | 0:f71232252dcf | 84 | * Set image size. |
shintamainjp | 0:f71232252dcf | 85 | * |
shintamainjp | 0:f71232252dcf | 86 | * @param is Image size. |
shintamainjp | 0:f71232252dcf | 87 | * @return Error code. |
shintamainjp | 0:f71232252dcf | 88 | */ |
shintamainjp | 0:f71232252dcf | 89 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) { |
shintamainjp | 0:f71232252dcf | 90 | uint8_t send[9] = { |
shintamainjp | 0:f71232252dcf | 91 | 0x56, |
shintamainjp | 0:f71232252dcf | 92 | 0x00, |
shintamainjp | 0:f71232252dcf | 93 | 0x31, |
shintamainjp | 0:f71232252dcf | 94 | 0x05, |
shintamainjp | 0:f71232252dcf | 95 | 0x04, |
shintamainjp | 0:f71232252dcf | 96 | 0x01, |
shintamainjp | 0:f71232252dcf | 97 | 0x00, |
shintamainjp | 0:f71232252dcf | 98 | 0x19, |
shintamainjp | 0:f71232252dcf | 99 | 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120 |
shintamainjp | 0:f71232252dcf | 100 | }; |
shintamainjp | 0:f71232252dcf | 101 | uint8_t recv[5]; |
shintamainjp | 0:f71232252dcf | 102 | switch (is) { |
shintamainjp | 0:f71232252dcf | 103 | case ImageSize160x120: |
shintamainjp | 0:f71232252dcf | 104 | send[8] = 0x22; |
shintamainjp | 0:f71232252dcf | 105 | break; |
shintamainjp | 0:f71232252dcf | 106 | case ImageSize320x280: |
shintamainjp | 0:f71232252dcf | 107 | send[8] = 0x11; |
shintamainjp | 0:f71232252dcf | 108 | break; |
shintamainjp | 0:f71232252dcf | 109 | case ImageSize640x480: |
shintamainjp | 0:f71232252dcf | 110 | send[8] = 0x00; |
shintamainjp | 0:f71232252dcf | 111 | break; |
shintamainjp | 0:f71232252dcf | 112 | default: |
shintamainjp | 0:f71232252dcf | 113 | return InvalidArguments; |
shintamainjp | 0:f71232252dcf | 114 | } |
shintamainjp | 0:f71232252dcf | 115 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 116 | return SendError; |
shintamainjp | 0:f71232252dcf | 117 | } |
shintamainjp | 0:f71232252dcf | 118 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 119 | return RecvError; |
shintamainjp | 0:f71232252dcf | 120 | } |
shintamainjp | 0:f71232252dcf | 121 | if ((recv[0] == 0x76) |
shintamainjp | 0:f71232252dcf | 122 | && (recv[1] == 0x00) |
shintamainjp | 0:f71232252dcf | 123 | && (recv[2] == 0x31) |
shintamainjp | 0:f71232252dcf | 124 | && (recv[3] == 0x00) |
shintamainjp | 0:f71232252dcf | 125 | && (recv[4] == 0x00)) { |
shintamainjp | 0:f71232252dcf | 126 | wait(1); |
shintamainjp | 0:f71232252dcf | 127 | return reset(); |
shintamainjp | 0:f71232252dcf | 128 | } else { |
shintamainjp | 0:f71232252dcf | 129 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 130 | } |
shintamainjp | 0:f71232252dcf | 131 | } |
shintamainjp | 0:f71232252dcf | 132 | |
shintamainjp | 0:f71232252dcf | 133 | /** |
shintamainjp | 0:f71232252dcf | 134 | * Take picture. |
shintamainjp | 0:f71232252dcf | 135 | * |
shintamainjp | 0:f71232252dcf | 136 | * @return Error code. |
shintamainjp | 0:f71232252dcf | 137 | */ |
shintamainjp | 0:f71232252dcf | 138 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() { |
shintamainjp | 0:f71232252dcf | 139 | uint8_t send[5] = { |
shintamainjp | 0:f71232252dcf | 140 | 0x56, |
shintamainjp | 0:f71232252dcf | 141 | 0x00, |
shintamainjp | 0:f71232252dcf | 142 | 0x36, |
shintamainjp | 0:f71232252dcf | 143 | 0x01, |
shintamainjp | 0:f71232252dcf | 144 | 0x00 |
shintamainjp | 0:f71232252dcf | 145 | }; |
shintamainjp | 0:f71232252dcf | 146 | uint8_t recv[5]; |
shintamainjp | 0:f71232252dcf | 147 | |
shintamainjp | 0:f71232252dcf | 148 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 149 | return SendError; |
shintamainjp | 0:f71232252dcf | 150 | } |
shintamainjp | 0:f71232252dcf | 151 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 152 | return RecvError; |
shintamainjp | 0:f71232252dcf | 153 | } |
shintamainjp | 0:f71232252dcf | 154 | |
shintamainjp | 0:f71232252dcf | 155 | if ((recv[0] == 0x76) |
shintamainjp | 0:f71232252dcf | 156 | && (recv[1] == 0x00) |
shintamainjp | 0:f71232252dcf | 157 | && (recv[2] == 0x36) |
shintamainjp | 0:f71232252dcf | 158 | && (recv[3] == 0x00) |
shintamainjp | 0:f71232252dcf | 159 | && (recv[4] == 0x00)) { |
shintamainjp | 1:43358d40f879 | 160 | /* |
shintamainjp | 1:43358d40f879 | 161 | * I think the camera need a time for operating. |
shintamainjp | 1:43358d40f879 | 162 | * But there is no any comments on the documents. |
shintamainjp | 1:43358d40f879 | 163 | */ |
shintamainjp | 1:43358d40f879 | 164 | wait_ms(100); |
shintamainjp | 0:f71232252dcf | 165 | return NoError; |
shintamainjp | 0:f71232252dcf | 166 | } else { |
shintamainjp | 0:f71232252dcf | 167 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 168 | } |
shintamainjp | 0:f71232252dcf | 169 | } |
shintamainjp | 0:f71232252dcf | 170 | |
shintamainjp | 0:f71232252dcf | 171 | /** |
shintamainjp | 0:f71232252dcf | 172 | * Read jpeg file size. |
shintamainjp | 0:f71232252dcf | 173 | * |
shintamainjp | 0:f71232252dcf | 174 | * @param fileSize File size. |
shintamainjp | 0:f71232252dcf | 175 | * @return Error code. |
shintamainjp | 0:f71232252dcf | 176 | */ |
shintamainjp | 0:f71232252dcf | 177 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) { |
shintamainjp | 0:f71232252dcf | 178 | uint8_t send[5] = { |
shintamainjp | 0:f71232252dcf | 179 | 0x56, |
shintamainjp | 0:f71232252dcf | 180 | 0x00, |
shintamainjp | 0:f71232252dcf | 181 | 0x34, |
shintamainjp | 0:f71232252dcf | 182 | 0x01, |
shintamainjp | 0:f71232252dcf | 183 | 0x00 |
shintamainjp | 0:f71232252dcf | 184 | }; |
shintamainjp | 0:f71232252dcf | 185 | uint8_t recv[9]; |
shintamainjp | 0:f71232252dcf | 186 | |
shintamainjp | 0:f71232252dcf | 187 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 188 | return SendError; |
shintamainjp | 0:f71232252dcf | 189 | } |
shintamainjp | 0:f71232252dcf | 190 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 191 | return RecvError; |
shintamainjp | 0:f71232252dcf | 192 | } |
shintamainjp | 0:f71232252dcf | 193 | |
shintamainjp | 0:f71232252dcf | 194 | if ((recv[0] == 0x76) |
shintamainjp | 0:f71232252dcf | 195 | && (recv[1] == 0x00) |
shintamainjp | 0:f71232252dcf | 196 | && (recv[2] == 0x34) |
shintamainjp | 0:f71232252dcf | 197 | && (recv[3] == 0x00) |
shintamainjp | 0:f71232252dcf | 198 | && (recv[4] == 0x04) |
shintamainjp | 0:f71232252dcf | 199 | && (recv[5] == 0x00) |
shintamainjp | 0:f71232252dcf | 200 | && (recv[6] == 0x00)) { |
shintamainjp | 0:f71232252dcf | 201 | *fileSize = ((recv[7] & 0x00ff) << 8) |
shintamainjp | 0:f71232252dcf | 202 | | ((recv[8] & 0x00ff) << 0); |
shintamainjp | 0:f71232252dcf | 203 | return NoError; |
shintamainjp | 0:f71232252dcf | 204 | } else { |
shintamainjp | 0:f71232252dcf | 205 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 206 | } |
shintamainjp | 0:f71232252dcf | 207 | } |
shintamainjp | 0:f71232252dcf | 208 | |
shintamainjp | 0:f71232252dcf | 209 | /** |
shintamainjp | 0:f71232252dcf | 210 | * Read jpeg file content. |
shintamainjp | 0:f71232252dcf | 211 | * |
shintamainjp | 0:f71232252dcf | 212 | * @param func A pointer to a call back function. |
shintamainjp | 0:f71232252dcf | 213 | * @return Error code. |
shintamainjp | 0:f71232252dcf | 214 | */ |
shintamainjp | 1:43358d40f879 | 215 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) { |
shintamainjp | 0:f71232252dcf | 216 | uint8_t send[16] = { |
shintamainjp | 0:f71232252dcf | 217 | 0x56, |
shintamainjp | 0:f71232252dcf | 218 | 0x00, |
shintamainjp | 0:f71232252dcf | 219 | 0x32, |
shintamainjp | 0:f71232252dcf | 220 | 0x0C, |
shintamainjp | 0:f71232252dcf | 221 | 0x00, |
shintamainjp | 0:f71232252dcf | 222 | 0x0A, |
shintamainjp | 0:f71232252dcf | 223 | 0x00, |
shintamainjp | 0:f71232252dcf | 224 | 0x00, |
shintamainjp | 0:f71232252dcf | 225 | 0x00, // MH |
shintamainjp | 0:f71232252dcf | 226 | 0x00, // ML |
shintamainjp | 0:f71232252dcf | 227 | 0x00, |
shintamainjp | 0:f71232252dcf | 228 | 0x00, |
shintamainjp | 0:f71232252dcf | 229 | 0x00, // KH |
shintamainjp | 0:f71232252dcf | 230 | 0x00, // KL |
shintamainjp | 0:f71232252dcf | 231 | 0x00, // XX |
shintamainjp | 0:f71232252dcf | 232 | 0x00 // XX |
shintamainjp | 0:f71232252dcf | 233 | }; |
shintamainjp | 0:f71232252dcf | 234 | uint8_t body[32]; |
shintamainjp | 0:f71232252dcf | 235 | uint16_t m = 0; // Staring address. |
shintamainjp | 0:f71232252dcf | 236 | uint16_t k = sizeof(body); // Packet size. |
shintamainjp | 0:f71232252dcf | 237 | uint16_t x = 10; // Interval time. XX XX * 0.01m[sec] |
shintamainjp | 0:f71232252dcf | 238 | bool end = false; |
shintamainjp | 1:43358d40f879 | 239 | |
shintamainjp | 1:43358d40f879 | 240 | /* |
shintamainjp | 1:43358d40f879 | 241 | * Get the data size. |
shintamainjp | 1:43358d40f879 | 242 | */ |
shintamainjp | 1:43358d40f879 | 243 | int siz_done = 0; |
shintamainjp | 1:43358d40f879 | 244 | int siz_total = 0; |
shintamainjp | 1:43358d40f879 | 245 | ErrorCode r = readJpegFileSize(&siz_total); |
shintamainjp | 1:43358d40f879 | 246 | if (r != NoError) { |
shintamainjp | 1:43358d40f879 | 247 | return r; |
shintamainjp | 1:43358d40f879 | 248 | } |
shintamainjp | 1:43358d40f879 | 249 | |
shintamainjp | 0:f71232252dcf | 250 | do { |
shintamainjp | 0:f71232252dcf | 251 | send[8] = (m >> 8) & 0xff; |
shintamainjp | 0:f71232252dcf | 252 | send[9] = (m >> 0) & 0xff; |
shintamainjp | 0:f71232252dcf | 253 | send[12] = (k >> 8) & 0xff; |
shintamainjp | 0:f71232252dcf | 254 | send[13] = (k >> 0) & 0xff; |
shintamainjp | 0:f71232252dcf | 255 | send[14] = (x >> 8) & 0xff; |
shintamainjp | 0:f71232252dcf | 256 | send[15] = (x >> 0) & 0xff; |
shintamainjp | 0:f71232252dcf | 257 | /* |
shintamainjp | 0:f71232252dcf | 258 | * Send a command. |
shintamainjp | 0:f71232252dcf | 259 | */ |
shintamainjp | 0:f71232252dcf | 260 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 261 | return SendError; |
shintamainjp | 0:f71232252dcf | 262 | } |
shintamainjp | 0:f71232252dcf | 263 | /* |
shintamainjp | 0:f71232252dcf | 264 | * Read the header of the response. |
shintamainjp | 0:f71232252dcf | 265 | */ |
shintamainjp | 0:f71232252dcf | 266 | uint8_t header[5]; |
shintamainjp | 0:f71232252dcf | 267 | if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) { |
shintamainjp | 0:f71232252dcf | 268 | return RecvError; |
shintamainjp | 0:f71232252dcf | 269 | } |
shintamainjp | 0:f71232252dcf | 270 | /* |
shintamainjp | 0:f71232252dcf | 271 | * Check the response and fetch an image data. |
shintamainjp | 0:f71232252dcf | 272 | */ |
shintamainjp | 0:f71232252dcf | 273 | if ((header[0] == 0x76) |
shintamainjp | 0:f71232252dcf | 274 | && (header[1] == 0x00) |
shintamainjp | 0:f71232252dcf | 275 | && (header[2] == 0x32) |
shintamainjp | 0:f71232252dcf | 276 | && (header[3] == 0x00) |
shintamainjp | 0:f71232252dcf | 277 | && (header[4] == 0x00)) { |
shintamainjp | 0:f71232252dcf | 278 | if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) { |
shintamainjp | 0:f71232252dcf | 279 | return RecvError; |
shintamainjp | 0:f71232252dcf | 280 | } |
shintamainjp | 1:43358d40f879 | 281 | siz_done += sizeof(body); |
shintamainjp | 0:f71232252dcf | 282 | if (func != NULL) { |
shintamainjp | 1:43358d40f879 | 283 | if (siz_done > siz_total) { |
shintamainjp | 1:43358d40f879 | 284 | siz_done = siz_total; |
shintamainjp | 1:43358d40f879 | 285 | } |
shintamainjp | 1:43358d40f879 | 286 | func(siz_done, siz_total, body, sizeof(body)); |
shintamainjp | 0:f71232252dcf | 287 | } |
shintamainjp | 0:f71232252dcf | 288 | for (int i = 1; i < sizeof(body); i++) { |
shintamainjp | 0:f71232252dcf | 289 | if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) { |
shintamainjp | 0:f71232252dcf | 290 | end = true; |
shintamainjp | 0:f71232252dcf | 291 | } |
shintamainjp | 0:f71232252dcf | 292 | } |
shintamainjp | 0:f71232252dcf | 293 | } else { |
shintamainjp | 0:f71232252dcf | 294 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 295 | } |
shintamainjp | 0:f71232252dcf | 296 | /* |
shintamainjp | 0:f71232252dcf | 297 | * Read the footer of the response. |
shintamainjp | 0:f71232252dcf | 298 | */ |
shintamainjp | 0:f71232252dcf | 299 | uint8_t footer[5]; |
shintamainjp | 0:f71232252dcf | 300 | if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) { |
shintamainjp | 0:f71232252dcf | 301 | return RecvError; |
shintamainjp | 0:f71232252dcf | 302 | } |
shintamainjp | 0:f71232252dcf | 303 | |
shintamainjp | 0:f71232252dcf | 304 | m += sizeof(body); |
shintamainjp | 0:f71232252dcf | 305 | } while (!end); |
shintamainjp | 0:f71232252dcf | 306 | return NoError; |
shintamainjp | 0:f71232252dcf | 307 | } |
shintamainjp | 0:f71232252dcf | 308 | |
shintamainjp | 0:f71232252dcf | 309 | /** |
shintamainjp | 0:f71232252dcf | 310 | * Stop taking pictures. |
shintamainjp | 0:f71232252dcf | 311 | * |
shintamainjp | 0:f71232252dcf | 312 | * @return Error code. |
shintamainjp | 0:f71232252dcf | 313 | */ |
shintamainjp | 0:f71232252dcf | 314 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() { |
shintamainjp | 0:f71232252dcf | 315 | uint8_t send[5] = { |
shintamainjp | 0:f71232252dcf | 316 | 0x56, |
shintamainjp | 0:f71232252dcf | 317 | 0x00, |
shintamainjp | 0:f71232252dcf | 318 | 0x36, |
shintamainjp | 0:f71232252dcf | 319 | 0x01, |
shintamainjp | 0:f71232252dcf | 320 | 0x03 |
shintamainjp | 0:f71232252dcf | 321 | }; |
shintamainjp | 0:f71232252dcf | 322 | uint8_t recv[5]; |
shintamainjp | 0:f71232252dcf | 323 | |
shintamainjp | 0:f71232252dcf | 324 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 325 | return SendError; |
shintamainjp | 0:f71232252dcf | 326 | } |
shintamainjp | 0:f71232252dcf | 327 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
shintamainjp | 0:f71232252dcf | 328 | return RecvError; |
shintamainjp | 0:f71232252dcf | 329 | } |
shintamainjp | 0:f71232252dcf | 330 | |
shintamainjp | 0:f71232252dcf | 331 | if ((recv[0] == 0x76) |
shintamainjp | 0:f71232252dcf | 332 | && (recv[1] == 0x00) |
shintamainjp | 0:f71232252dcf | 333 | && (recv[2] == 0x36) |
shintamainjp | 0:f71232252dcf | 334 | && (recv[3] == 0x00) |
shintamainjp | 0:f71232252dcf | 335 | && (recv[4] == 0x00)) { |
shintamainjp | 1:43358d40f879 | 336 | /* |
shintamainjp | 1:43358d40f879 | 337 | * I think the camera need a time for operating. |
shintamainjp | 1:43358d40f879 | 338 | * But there is no any comments on the documents. |
shintamainjp | 1:43358d40f879 | 339 | */ |
shintamainjp | 1:43358d40f879 | 340 | wait_ms(100); |
shintamainjp | 0:f71232252dcf | 341 | return NoError; |
shintamainjp | 0:f71232252dcf | 342 | } else { |
shintamainjp | 0:f71232252dcf | 343 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 344 | } |
shintamainjp | 0:f71232252dcf | 345 | } |
shintamainjp | 0:f71232252dcf | 346 | |
shintamainjp | 0:f71232252dcf | 347 | /** |
shintamainjp | 0:f71232252dcf | 348 | * Wait init end codes. |
shintamainjp | 0:f71232252dcf | 349 | * |
shintamainjp | 0:f71232252dcf | 350 | * @return True if the data sended. |
shintamainjp | 0:f71232252dcf | 351 | */ |
shintamainjp | 0:f71232252dcf | 352 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() { |
shintamainjp | 0:f71232252dcf | 353 | static const char *PWR_ON_MSG = "Init end\x0d\x0a"; |
shintamainjp | 0:f71232252dcf | 354 | for (int i = 0; i < strlen(PWR_ON_MSG); i++) { |
shintamainjp | 0:f71232252dcf | 355 | static const int MAXCNT = 128; |
shintamainjp | 0:f71232252dcf | 356 | int cnt = 0; |
shintamainjp | 0:f71232252dcf | 357 | uint8_t c = 0x00; |
shintamainjp | 0:f71232252dcf | 358 | do { |
shintamainjp | 0:f71232252dcf | 359 | if (!recvBytes(&c, sizeof(c), 500 * 1000)) { |
shintamainjp | 0:f71232252dcf | 360 | return Timeout; |
shintamainjp | 0:f71232252dcf | 361 | } |
shintamainjp | 0:f71232252dcf | 362 | |
shintamainjp | 0:f71232252dcf | 363 | /* |
shintamainjp | 0:f71232252dcf | 364 | * What is the version of the camera. |
shintamainjp | 0:f71232252dcf | 365 | * You can check the version with this code. |
shintamainjp | 0:f71232252dcf | 366 | * |
shintamainjp | 0:f71232252dcf | 367 | * VC0703 1.00 |
shintamainjp | 0:f71232252dcf | 368 | * 3o ctrl in |
shintamainjp | 0:f71232252dcf | 369 | * Init end |
shintamainjp | 0:f71232252dcf | 370 | */ |
shintamainjp | 0:f71232252dcf | 371 | #if 0 |
shintamainjp | 0:f71232252dcf | 372 | printf("%c", c); |
shintamainjp | 0:f71232252dcf | 373 | #endif |
shintamainjp | 0:f71232252dcf | 374 | |
shintamainjp | 0:f71232252dcf | 375 | cnt++; |
shintamainjp | 0:f71232252dcf | 376 | if (MAXCNT < cnt) { |
shintamainjp | 0:f71232252dcf | 377 | return UnexpectedReply; |
shintamainjp | 0:f71232252dcf | 378 | } |
shintamainjp | 0:f71232252dcf | 379 | } while (c != PWR_ON_MSG[i]); |
shintamainjp | 0:f71232252dcf | 380 | } |
shintamainjp | 0:f71232252dcf | 381 | return NoError; |
shintamainjp | 0:f71232252dcf | 382 | } |
shintamainjp | 0:f71232252dcf | 383 | |
shintamainjp | 0:f71232252dcf | 384 | /** |
shintamainjp | 0:f71232252dcf | 385 | * Send bytes to camera module. |
shintamainjp | 0:f71232252dcf | 386 | * |
shintamainjp | 0:f71232252dcf | 387 | * @param buf Pointer to the data buffer. |
shintamainjp | 0:f71232252dcf | 388 | * @param len Length of the data buffer. |
shintamainjp | 0:f71232252dcf | 389 | * |
shintamainjp | 0:f71232252dcf | 390 | * @return True if the data sended. |
shintamainjp | 0:f71232252dcf | 391 | */ |
shintamainjp | 0:f71232252dcf | 392 | bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) { |
shintamainjp | 0:f71232252dcf | 393 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
shintamainjp | 0:f71232252dcf | 394 | int cnt = 0; |
shintamainjp | 0:f71232252dcf | 395 | while (!serial.writeable()) { |
shintamainjp | 0:f71232252dcf | 396 | wait_us(1); |
shintamainjp | 0:f71232252dcf | 397 | cnt++; |
shintamainjp | 0:f71232252dcf | 398 | if (timeout_us < cnt) { |
shintamainjp | 0:f71232252dcf | 399 | return false; |
shintamainjp | 0:f71232252dcf | 400 | } |
shintamainjp | 0:f71232252dcf | 401 | } |
shintamainjp | 0:f71232252dcf | 402 | serial.putc(buf[i]); |
shintamainjp | 0:f71232252dcf | 403 | } |
shintamainjp | 0:f71232252dcf | 404 | return true; |
shintamainjp | 0:f71232252dcf | 405 | } |
shintamainjp | 0:f71232252dcf | 406 | |
shintamainjp | 0:f71232252dcf | 407 | /** |
shintamainjp | 0:f71232252dcf | 408 | * Receive bytes from camera module. |
shintamainjp | 0:f71232252dcf | 409 | * |
shintamainjp | 0:f71232252dcf | 410 | * @param buf Pointer to the data buffer. |
shintamainjp | 0:f71232252dcf | 411 | * @param len Length of the data buffer. |
shintamainjp | 0:f71232252dcf | 412 | * |
shintamainjp | 0:f71232252dcf | 413 | * @return True if the data received. |
shintamainjp | 0:f71232252dcf | 414 | */ |
shintamainjp | 0:f71232252dcf | 415 | bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) { |
shintamainjp | 0:f71232252dcf | 416 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
shintamainjp | 0:f71232252dcf | 417 | int cnt = 0; |
shintamainjp | 0:f71232252dcf | 418 | while (!serial.readable()) { |
shintamainjp | 0:f71232252dcf | 419 | wait_us(1); |
shintamainjp | 0:f71232252dcf | 420 | cnt++; |
shintamainjp | 0:f71232252dcf | 421 | if (timeout_us < cnt) { |
shintamainjp | 0:f71232252dcf | 422 | return false; |
shintamainjp | 0:f71232252dcf | 423 | } |
shintamainjp | 0:f71232252dcf | 424 | } |
shintamainjp | 0:f71232252dcf | 425 | buf[i] = serial.getc(); |
shintamainjp | 0:f71232252dcf | 426 | } |
shintamainjp | 0:f71232252dcf | 427 | return true; |
shintamainjp | 0:f71232252dcf | 428 | } |
shintamainjp | 0:f71232252dcf | 429 | |
shintamainjp | 0:f71232252dcf | 430 | /** |
shintamainjp | 0:f71232252dcf | 431 | * Wait received. |
shintamainjp | 0:f71232252dcf | 432 | * |
shintamainjp | 0:f71232252dcf | 433 | * @return True if the data received. |
shintamainjp | 0:f71232252dcf | 434 | */ |
shintamainjp | 0:f71232252dcf | 435 | bool Camera_LS_Y201::waitRecv() { |
shintamainjp | 0:f71232252dcf | 436 | while (!serial.readable()) { |
shintamainjp | 0:f71232252dcf | 437 | } |
shintamainjp | 0:f71232252dcf | 438 | return true; |
shintamainjp | 0:f71232252dcf | 439 | } |
shintamainjp | 0:f71232252dcf | 440 | |
shintamainjp | 0:f71232252dcf | 441 | /** |
shintamainjp | 0:f71232252dcf | 442 | * Wait idle state. |
shintamainjp | 0:f71232252dcf | 443 | */ |
shintamainjp | 0:f71232252dcf | 444 | bool Camera_LS_Y201::waitIdle() { |
shintamainjp | 0:f71232252dcf | 445 | while (serial.readable()) { |
shintamainjp | 0:f71232252dcf | 446 | serial.getc(); |
shintamainjp | 0:f71232252dcf | 447 | } |
shintamainjp | 0:f71232252dcf | 448 | return true; |
shintamainjp | 0:f71232252dcf | 449 | } |